WO2017147755A1 - 油门控制信号处理方法、电子调速器、控制器及移动平台 - Google Patents

油门控制信号处理方法、电子调速器、控制器及移动平台 Download PDF

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Publication number
WO2017147755A1
WO2017147755A1 PCT/CN2016/074857 CN2016074857W WO2017147755A1 WO 2017147755 A1 WO2017147755 A1 WO 2017147755A1 CN 2016074857 W CN2016074857 W CN 2016074857W WO 2017147755 A1 WO2017147755 A1 WO 2017147755A1
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WO
WIPO (PCT)
Prior art keywords
throttle
control signal
signal
throttle control
interface
Prior art date
Application number
PCT/CN2016/074857
Other languages
English (en)
French (fr)
Inventor
蓝求
周长兴
刘万启
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.)
Filing date
Publication date
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 CN202011012501.3A priority Critical patent/CN112083712A/zh
Priority to PCT/CN2016/074857 priority patent/WO2017147755A1/zh
Priority to EP20213825.1A priority patent/EP3812279B1/en
Priority to EP16891948.8A priority patent/EP3424821B1/en
Priority to CN201680002491.0A priority patent/CN106716277A/zh
Publication of WO2017147755A1 publication Critical patent/WO2017147755A1/zh
Priority to US15/725,863 priority patent/US10611244B2/en
Priority to US16/836,247 priority patent/US20200290460A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/04—Cutting off the power supply under fault conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B64D31/02—Initiating means
    • 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
    • B64D31/02—Initiating means
    • B64D31/06—Initiating means actuated automatically
    • 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
    • B64D31/02—Initiating means
    • B64D31/06—Initiating means actuated automatically
    • B64D31/08—Initiating means actuated automatically for keeping cruising speed constant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a throttle control signal processing method, an electronic governor, a controller, and a mobile platform.
  • 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.
  • a throttle control line is arranged between the electronic governor and the controller of the aircraft.
  • the controller can send a throttle control signal to the electronic governor through the throttle control line, and the throttle control signal is mostly PWM. Wave or PPM wave, after receiving the throttle control signal, the electronic governor can control the rotation of the motor according to the throttle control signal, thereby realizing the flight function.
  • the shortcoming of the prior art is that in practical applications, due to damage to the line, etc., the throttle control signal received by the electronic governor may be abnormal, such as loss of throttle control signal or unstable signal frequency, which may result in The electronic governor cannot control the rotation of the motor normally, and in serious cases, it may cause a flight accident.
  • Embodiments of the present invention provide a throttle control signal processing method, which is applied to an electronic governor, and the electronic governor is provided with a throttle signal interface for receiving a throttle control signal and a communication interface for transmitting communication data.
  • the method includes:
  • Embodiments of the present invention also provide a throttle control signal processing method, the method being applied to a controller, the controller being provided with a throttle signal interface for transmitting a throttle control signal and a communication interface for transmitting communication data, the method include:
  • a throttle control signal is sent from the communication interface.
  • the embodiment of the invention further provides a throttle control signal processing method, and a throttle channel for transmitting a throttle control signal and a communication channel for transmitting communication data are disposed between the electronic governor and the controller, and the method includes:
  • the electronic governor receives the throttle control signal from the communication channel.
  • An embodiment of the present invention further provides an electronic governor, including: a processor, a throttle signal interface for receiving a throttle control signal, and a communication interface for transmitting communication data;
  • the processor when the signal transmission state of the throttle signal interface monitored in real time is an abnormal state, the processor receives the throttle control signal from the communication interface.
  • An embodiment of the present invention further provides a controller, including: a processor, a throttle signal interface for transmitting a throttle control signal, and a communication interface for transmitting communication data;
  • the processor transmits a throttle control signal from the communication interface.
  • the embodiment of the invention further provides a mobile platform, comprising: a motor, a controller and an electronic governor;
  • the motor is connected to an electronic governor;
  • a throttle channel for transmitting a throttle control signal and a communication channel for transmitting communication data are disposed between the electronic governor and the controller;
  • the controller sends a throttle control signal to the electronic governor through the throttle passage; the electronic governor receives from the communication channel when a signal transmission state of the throttle passage is an abnormal state The throttle control signal.
  • the throttle control signal processing method, the electronic governor, the controller and the mobile platform provided by the embodiment of the invention monitor the signal transmission state of the throttle signal interface in real time, and when the signal transmission state of the throttle signal interface is abnormal state, Receiving the throttle control signal from the communication interface, the electronic governor can continue to control the normal rotation of the motor, preventing the power platform from running out of control, for example, preventing the unmanned aircraft from losing flight power, thereby ensuring the normal operation of the mobile platform and improving the mobile platform. reliability.
  • FIG. 1 is a flowchart of a method for processing a throttle control signal according to Embodiment 1 of the present invention
  • FIG. 2 is an electronic governor and a control device for processing a throttle control signal according to a first embodiment of the present invention
  • FIG. 3 is a flowchart of a method for processing a throttle control signal according to Embodiment 2 of the present invention.
  • FIG. 4 is a flowchart of a method for processing a throttle control signal according to Embodiment 3 of the present invention.
  • FIG. 5 is a flowchart of a method for processing a throttle control signal according to Embodiment 4 of the present invention.
  • FIG. 6 is a flowchart of a method for processing a throttle control signal according to Embodiment 5 of the present invention.
  • FIG. 7 is a schematic structural diagram of an electronic governor according to Embodiment 6 of the present invention.
  • FIG. 8 is a schematic structural diagram of a controller according to Embodiment 7 of the present invention.
  • FIG. 9 is a schematic structural diagram of a mobile platform according to Embodiment 8 of the present invention.
  • Embodiment 1 of the present invention provides a throttle control signal processing method.
  • FIG. 1 is a flowchart of a method for processing a throttle control signal according to Embodiment 1 of the present invention. As shown in Figure 1, the square in this embodiment Law, which can include:
  • Step 101 Monitor a signal transmission state of the throttle signal interface in real time.
  • the method in this embodiment can be applied to an electronic governor.
  • the electronic governor can receive the throttle control signal sent by the controller in the unmanned aerial vehicle, and control the motor rotation of the unmanned aerial vehicle according to the throttle control signal, thereby realizing the normal flight of the unmanned aerial vehicle.
  • FIG. 2 is a schematic diagram of connection between an electronic governor and a controller in a throttle control signal processing method according to Embodiment 1 of the present invention.
  • two channels can be disposed between the electronic governor 1 and the controller 2.
  • One is the throttle channel and the other is the communication channel.
  • the throttle channel may be used to transmit a throttle control signal, and the throttle control signal may be a PWM (Pulse Width Modulation) signal or a PPM (Pulse Position Modulation) signal.
  • PWM Pulse Width Modulation
  • PPM Pulse Position Modulation
  • the communication channel can be used to transmit communication data.
  • the controller 2 can send executable files or debugging parameters and the like to the electronic governor 1 through the communication channel, thereby enabling the electronic governor 1 to implement firmware upgrade, parameter modification and the like.
  • the electronic governor 1 can transmit operational data related to an operating state, and self-operating state data of the electronic governor 1 to the controller 2 through the communication channel.
  • the electronic governor 1 may be provided with a throttle signal interface for receiving a throttle control signal and a communication interface for transmitting communication data.
  • the controller 2 may be provided with a throttle signal interface for transmitting a throttle control signal and a communication interface for transmitting communication data.
  • the throttle signal interface and the communication interface can be implemented in various forms, for example, wires, circuit board traces, terminals, pins, etc., which are not limited in this embodiment.
  • the throttle channel and communication channel described above can also be implemented in a variety of ways.
  • the throttle signal interface of the electronic governor 1 is directly coupled to the throttle signal interface of the controller 2 to form the throttle passage.
  • the throttle signal interface of the electronic governor 1 and the throttle signal interface of the controller 2 are electrically connected by wires, circuit board traces or other components to form the throttle passage.
  • the communication interface of the electronic governor 1 and the communication interface of the controller 2 can be directly connected to form the communication channel.
  • the communication interface of the electronic governor 1 and the communication interface of the controller 2 may be electrically connected by wires, circuit board traces or other components to form the communication channel.
  • the electronic governor 1 can monitor the signal transmission state of the throttle signal interface in real time.
  • the signal transmission state is a normal state, indicating that the throttle signal interface of the electronic governor 1 receives a normal throttle control signal. If the signal transmission state is an abnormal state, it indicates that the throttle signal interface of the electronic governor 1 does not receive a normal throttle control signal.
  • the abnormal state may be that the throttle signal interface does not receive the throttle control signal, or the throttle control signal received by the throttle signal interface is abnormal.
  • a monitoring circuit for monitoring a signal transmission state of the throttle signal interface may be disposed in the electronic governor 1. For example, the monitoring circuit may determine whether the throttle control signal received by the throttle signal interface is abnormal according to whether the characteristic information of the throttle control signal received by the throttle signal interface satisfies a preset condition.
  • the feature information may be frequency information and/or pulse width information of the throttle control signal.
  • the monitoring circuit may include a voltage detecting circuit or a current detecting circuit, and the voltage detecting circuit and the current detecting circuit are respectively configured to detect voltage information or current information of a throttle control signal received on the throttle signal interface, The monitoring circuit may determine characteristic information of the throttle control signal according to voltage information or current information of the throttle control signal, thereby determining the signal transmission state.
  • the characteristic information of the throttle control signal received on the throttle signal interface is :
  • the frequency is 1/x Hz and the pulse width is y seconds.
  • the preset condition is that the frequency is between ab Hz and the pulse width is between cd seconds.
  • 1/x is not in the range of a to b, or y is not in the range of c to d, it indicates that the throttle control signal received by the throttle signal interface is abnormal.
  • the correspondence between the characteristic information of the throttle control signal and the signal transmission state may be set according to actual needs, and is not limited to the above manner.
  • determining the signal transmission state of the throttle control interface can also be performed by other components of the electronic governor 1, which is not limited in this embodiment.
  • Step 102 If the signal transmission state of the throttle signal interface is an abnormal state, receive the throttle control signal from the communication interface.
  • the controller 2 may send a throttle control signal to the electronic governor 1 through the communication channel.
  • the electronic governor 1 is capable of receiving the throttle control signal from a communication interface to control normal rotation of the motor.
  • the signal form when the throttle control signal is transmitted to the throttle signal interface and the communication interface, respectively, may be different.
  • the throttle control signal may be transmitted to the throttle signal interface, such as a PWM signal or a PPM signal, in an analog signal form.
  • the throttle control signal may be transmitted to the communication interface in a digital signal form, such as frequency information or pulse width information of the PWM signal or PPM signal.
  • the electronic governor 1 After receiving the throttle control signal in the form of the digital signal, the electronic governor 1 can generate a corresponding PWM signal or a PPM signal according to the throttle control signal of the digital signal form, thereby implementing control of the motor.
  • the electronic governor 1 and the controller 2 may be provided with both a throttle passage and a communication passage.
  • the controller 2 can send communication data to the electronic governor 1 through the communication channel, and enable the electronic governor 1 to implement functions such as firmware upgrade and parameter update.
  • the electronic governor 1 receives the throttle control information sent by the controller 2 through the throttle passage to control the normal rotation of the motor.
  • the electronic governor 1 can acquire the throttle control signal from the communication interface, continue to control the motor, and ensure the normal flight of the aircraft.
  • the throttle control signal processing method provided in this embodiment is provided in the electronic governor 1 with a throttle signal interface for receiving a throttle control signal and a communication interface for transmitting communication data, and real-time monitoring the signal transmission of the throttle signal interface a state, and when the signal transmission state of the throttle signal interface is an abnormal state, receiving the throttle control signal from the communication interface, so that the electronic governor 1 can continue to control the normal rotation of the motor to prevent the aircraft from being out of control To ensure the normal flight of the aircraft and improve the reliability of the aircraft.
  • the throttle control signal received by the electronic governor 1 from the communication interface may be a signal transmission state of the controller 2 at the throttle control interface of the electronic governor 1 It is sent on the communication channel when an abnormality occurs, or it can be sent before an exception occurs.
  • Embodiment 2 of the present invention provides a throttle control signal processing method.
  • the embodiment is based on the technical solution provided in the first embodiment.
  • the electronic governor 1 sends a throttle control signal transmission failure message to the controller 2, thereby causing the controller 2 to After receiving the throttle control signal transmission failure message, the throttle control signal is sent to the electronic governor 1 through the communication channel.
  • FIG. 3 is a flowchart of a method for processing a throttle control signal according to Embodiment 2 of the present invention. As shown in FIG. 3, the method in this embodiment may include:
  • Step 201 Monitor a signal transmission state of the throttle signal interface in real time.
  • Step 201 in this embodiment is similar to the specific implementation principle of step 101 in the first embodiment, and details are not described herein again.
  • the controller 2 transmits the throttle control signal only through the throttle channel, and the electronic governor 1 receives the throttle control only through the throttle control interface. signal.
  • the throttle control signal is not transmitted in the communication channel until an abnormality occurs in the signal transmission state of the throttle signal interface.
  • Step 202 If the signal transmission state of the throttle signal interface is an abnormal state, send a throttle control signal transmission fault message through the communication interface.
  • the electronic governor 1 may send the throttle control signal transmission fault message through the communication interface, so that the controller 2 may receive the throttle control signal transmission fault message from the communication channel, so that the controller 2 It is timely informed that the throttle control signal received by the electronic governor 1 from the throttle signal interface is faulty.
  • controller 2 may transmit a fault message according to the throttle control signal, and send the throttle control signal to the electronic governor 1 through a communication channel.
  • Step 203 Receive the throttle control signal from the communication interface.
  • the controller 2 may transmit the throttle control signal through the communication channel when an abnormality occurs in a signal transmission state of the throttle signal interface of the electronic governor 1.
  • the electronic governor 1 in this step can receive the throttle control signal from the communication interface and control the rotation of the motor according to the throttle control signal received from the communication interface.
  • the throttle control signal processing method provided by the embodiment provides real-time monitoring of the signal transmission state of the throttle signal interface, and sends a throttle control signal transmission through the communication interface when the signal transmission state of the throttle signal interface is an abnormal state.
  • the fault message enables the controller 2 to know in time that the electronic governor 1 is abnormal when receiving the throttle control signal, and sends a throttle control signal to the electronic governor 1 through the communication channel when an abnormality occurs, thereby saving signal resources. And effectively saves the power supply of the aircraft and improves the endurance of the aircraft.
  • the cause of the abnormality may also be determined according to the received signal.
  • the power supply may be insufficient. If the voltage or current of the signal received from the throttle signal interface continues to be 0, the throttle passage between the electronic governor 1 and the controller 2 may have been disconnected.
  • the electronic governor 1 can perform a corresponding remedial operation depending on the cause of the abnormality. For example, enable backup power when the power is low.
  • the electronic governor 1 may carry a corresponding abnormality identifier in the throttle control signal transmission failure message sent to the controller 2, so that the controller 2 performs a corresponding operation according to the abnormality identifier.
  • the controller 2 can send a message to the user, report an abnormal condition, and the like.
  • the electronic governor 1 and the controller 2 performing corresponding operations according to the cause of the abnormality, the signal transmission state of the throttle channel can be restored to normal more quickly, and the reliability of the aircraft is further improved.
  • the electronic governor 1 can receive the throttle control signal from the throttle signal interface if the signal transmission state of the throttle signal interface returns to a normal state. To achieve continuous control of the motor.
  • the electronic governor 1 may send the throttle control signal transmission recovery message from the communication interface to the controller 2, the controller 2 After receiving the throttle control signal transmission recovery message, the transmission of the throttle control signal from the communication interface may be stopped.
  • Embodiment 3 of the present invention provides a throttle control signal processing method. This embodiment is in the embodiment On the basis of a technical solution provided, before the abnormality of the signal transmission state of the throttle control interface occurs, the controller 2 simultaneously transmits the throttle control signals through the throttle channel and the communication channel, respectively.
  • FIG. 4 is a flowchart of a method for processing a throttle control signal according to Embodiment 3 of the present invention. As shown in FIG. 4, the method in this embodiment may include:
  • Step 301 Real-time monitoring a signal transmission state of the throttle signal interface, wherein the throttle control signals are simultaneously transmitted to the throttle signal interface and the communication interface in parallel at the same time.
  • the controller 2 can separately transmit the throttle control signals through the throttle channel and the communication channel. That is, regardless of whether the signal transmission state of the throttle signal interface is normal, the electronic governor 1 can also receive the throttle control signal at the communication interface while receiving the throttle control signal from the throttle signal interface.
  • the signal form when the throttle control signal is transmitted to the throttle signal interface and the communication interface, respectively, may be different.
  • the throttle control signal may be transmitted to the throttle signal interface in an analog signal form and transmitted to the communication interface in a digital signal configuration.
  • the method in step 101 in the first embodiment can be used to determine the signal transmission state of the throttle signal interface. For example, determining whether the throttle control signal received by the throttle signal interface is abnormal according to whether the characteristic information of the throttle control signal received by the throttle signal interface satisfies a preset condition.
  • this embodiment also provides another method of judging.
  • the electronic governor 1 can compare the throttle control signal received from the throttle signal interface with the throttle control signal received from the communication interface. If the frequency information and/or the pulse width information corresponding to the two are consistent, then the determination unit The signal transmission state of the throttle signal interface is normal, otherwise it is determined to be abnormal.
  • the above two methods may be combined to determine the signal transmission state of the throttle signal interface, which can further increase the accuracy of the judgment.
  • the throttle is determined.
  • the signal transmission status of the signal interface is normal.
  • the characteristic information of the throttle control signal received by the throttle signal interface satisfies a preset condition, or the throttle control signal received from the throttle signal interface is consistent with the throttle control signal received from the communication interface, then It is determined that the signal transmission state of the throttle signal interface is a normal state.
  • Step 302 If the signal transmission state of the throttle signal interface is an abnormal state, then A communication interface receives the throttle control signal.
  • the electronic governor 1 receives the throttle control signal from the throttle signal interface and the communication interface at the same time, when the signal transmission state of the throttle signal interface is abnormal, the switch can be switched to the communication interface, and the slave communication is utilized.
  • the throttle control signal received by the interface controls the rotation of the motor.
  • the throttle control signals are simultaneously transmitted to the throttle signal interface and the communication interface of the electronic governor 1 in parallel, and if the signal transmission state of the throttle signal interface is abnormal,
  • the electronic governor 1 can receive the throttle control signal from the communication interface, and the steps are simple and easy to implement.
  • Embodiment 4 of the present invention provides a throttle control signal processing method.
  • FIG. 5 is a flowchart of a method for processing a throttle control signal according to Embodiment 4 of the present invention. As shown in FIG. 5, the method in this embodiment may include:
  • Step 401 Send a throttle control signal from the communication interface.
  • the method in this embodiment can be applied to the controller 2.
  • the controller 2 is provided with a throttle signal interface for transmitting a throttle control signal and a communication interface for transmitting communication data.
  • the specific structure of the controller 2, the connection relationship with the electronic governor 1, and the signal interaction process are similar to those in the first embodiment, and are not described herein again.
  • the controller 2 sends a throttle control signal from the communication interface, and may include at least two implementation manners.
  • the throttle control signal is first sent from the throttle signal interface, and the throttle control signal is sent from the communication interface when an abnormality occurs in the signal received by the electronic governor 1 from the throttle signal interface.
  • the step 401 may include: receiving a throttle control signal transmission fault message from the communication interface; transmitting the fault control message according to the throttle control signal, and sending the throttle control signal from the communication interface, and the specific implementation manner may be implemented by referring to Example 2.
  • the throttle control signal transmission recovery message may be received from the communication interface; the resume message is transmitted according to the throttle control signal, and the transmission of the throttle control signal from the communication interface is stopped.
  • the throttle control signal is transmitted from the communication interface while the throttle control signal is being transmitted from the throttle signal interface. That is, the throttle control signal is simultaneously
  • the throttle control signal is simultaneously
  • the specific implementation of the throttle signal interface and the communication interface refer to the third embodiment.
  • the throttle control signal processing method provided in this embodiment is provided with a throttle signal interface for transmitting a throttle control signal and a communication interface for transmitting communication data, and the controller 2 can also send the communication interface through the communication interface.
  • the throttle control signal causes the electronic governor 1 to receive the throttle control signal through the communication channel when the signal received from the throttle channel is abnormal, continue to control the normal rotation of the motor, prevent the aircraft from being out of control of the arm, and ensure the aircraft's Normal flight improves the reliability of the aircraft.
  • the signal form of the throttle control signal transmitted from the throttle signal interface and the communication interface is different.
  • the throttle control signal sent by the throttle signal interface is an analog signal.
  • the throttle control signal sent by the communication interface is a digital signal.
  • Embodiment 5 of the present invention provides a throttle control signal processing method.
  • FIG. 6 is a flowchart of a method for processing a throttle control signal according to Embodiment 5 of the present invention. As shown in FIG. 6, the method in this embodiment may include:
  • Step 501 If the signal transmission state of the throttle channel is an abnormal state, the electronic governor 1 receives the throttle control signal from the communication channel.
  • the method in the present embodiment can be applied to the electronic governor 1 and the controller 2.
  • a throttle passage for transmitting a throttle control signal and a communication passage for transmitting communication data are disposed between the electronic governor 1 and the controller 2.
  • the structure, the connection relationship, and the interaction process of the components in this embodiment are similar to the foregoing embodiments, and are not described herein again.
  • the throttle control signal processing method provided in this embodiment is provided between the electronic governor 1 and the controller 2 with a throttle channel for transmitting a throttle control signal and a communication channel for transmitting communication data, which is passed through the electronic governor 1
  • the throttle control signal is received from the communication channel, so that the electronic governor 1 can continue to control the normal rotation of the motor, preventing the aircraft from being out of control of the arm, and ensuring the aircraft
  • the normal flight improves the reliability of the aircraft.
  • the abnormal state may be that the throttle channel does not receive the throttle control signal The number, or the throttle control signal received by the throttle channel, is abnormal.
  • the electronic governor 1 may determine whether the throttle control signal received from the throttle channel is abnormal according to whether the characteristic information of the throttle control signal received from the throttle channel satisfies a preset condition.
  • the feature information may be frequency information and/or pulse width information of the throttle control signal. If the signal transmission state is an abnormal state, the electronic governor 1 may send a throttle control signal transmission failure message to the controller 2 through the communication channel, so that the controller 2 controls according to the throttle A signal fault message transmits the throttle control signal to the electronic governor 1 via the communication channel.
  • the throttle control signals may be transmitted from the throttle channel and the communication channel in parallel at the same time.
  • the signal form when the throttle control signal is respectively transmitted to the throttle signal channel and the communication channel may be different.
  • the throttle control signal may be transmitted to the throttle passage in an analog signal configuration.
  • the throttle control signal can be transmitted to the communication channel in the form of a digital signal.
  • the electronic governor 1 can receive the throttle control signal from the throttle channel.
  • Embodiment 6 of the present invention provides an electronic governor.
  • FIG. 7 is a schematic structural diagram of an electronic governor according to Embodiment 6 of the present invention. As shown in FIG. 7, the electronic governor in this embodiment may include:
  • the processor 11 has a throttle signal interface 12 for receiving a throttle control signal and a communication interface 13 for transmitting communication data.
  • the processor 11 receives the throttle control signal from the communication interface 13 when the signal transmission state of the throttle signal interface 12 monitored in real time is an abnormal state.
  • the electronic governor of the embodiment can be used to execute the throttle control signal processing method described in the first embodiment.
  • the functions and implementations of the components of the electronic governor in this embodiment are similar to those in the first embodiment, and are not described herein again.
  • the function of the processor 11 in this embodiment may be implemented by software or by a hardware module. For example, determining characteristic information of the throttle control signal received by the throttle signal interface 12 can be implemented by a counter, a timer, and a comparator. Whether the preset information satisfies the preset Condition, determining whether the throttle control signal received by the throttle signal interface 12 is abnormal may be implemented by a comparator. Switching the throttle control signal from the throttle control interface to receiving the throttle control signal from the communication interface 13 can be accomplished by a switch.
  • the electronic governor provided in this embodiment includes a processor 11, a throttle signal interface 12 for receiving a throttle control signal, and a communication interface 13 for transmitting communication data, and the processor 11 passes the signal at the throttle signal interface 12.
  • the throttle control signal is received from the communication interface 13, and the normal rotation of the motor is continuously controlled to prevent the aircraft from being out of control of the arm, ensuring normal flight of the aircraft, and improving the reliability of the aircraft.
  • the electronic governor may further include a monitoring circuit for monitoring a signal transmission state of the throttle signal interface 12, the monitoring circuit is in communication with the processor 11 for transmitting a signal state. It is transmitted to the processor 11.
  • the implementation of the monitoring circuit is similar to that of the first embodiment, and details are not described herein again.
  • the processor 11, the monitoring circuit, the throttle signal interface 12, and the communication interface 13 may be integrated together, that is, disposed in the same integrated chip. Alternatively, the processor 11, the monitoring circuit, the throttle signal interface 12, and the communication interface 13 may be separately provided.
  • the abnormal state may be that the throttle signal interface 12 does not receive the throttle control signal, or the throttle control signal received by the throttle signal interface 12 is abnormal.
  • the processor 11 may determine whether the throttle control signal received by the throttle signal interface 12 is abnormal according to whether the characteristic information of the throttle control signal received by the throttle signal interface 12 meets a preset condition; If the signal transmission state of the throttle signal interface 12 is an abnormal state, the throttle control signal is received from the communication interface 13.
  • the feature information is frequency information and/or pulse width information of the throttle control signal.
  • the processor 11 may send a throttle control signal transmission fault message through the communication interface 13 when the signal transmission state of the throttle signal interface 12 is an abnormal state, and receive the throttle from the communication interface 13 control signal.
  • the throttle control signals may be simultaneously transmitted to the throttle signal interface 12 and the communication interface 13 in parallel at the same time.
  • the signal form when the throttle control signal is transmitted to the throttle signal interface 12 and the communication interface 13 respectively may be different.
  • the throttle control signal can be in the form of an analog signal Transfer to the throttle signal interface 12.
  • the throttle control signal can be transmitted to the communication interface 13 in the form of a digital signal.
  • the processor 11 may receive the throttle control signal from the throttle signal interface 12 when the signal transmission state of the throttle signal interface 12 returns to a normal state.
  • Embodiment 7 of the present invention provides a controller.
  • FIG. 8 is a schematic structural diagram of a controller according to Embodiment 7 of the present invention. As shown in FIG. 8, the controller in this embodiment may include:
  • the processor 21 can transmit a throttle control signal from the communication interface 23.
  • the controller of the embodiment can be used to execute the throttle control signal processing method described in the fourth embodiment.
  • the functions and implementation methods of the components of the controller in this embodiment are similar to those in the fourth embodiment, and are not described herein again.
  • the controller provided in this embodiment includes a processor 21, a throttle signal interface 22 for transmitting a throttle control signal, and a communication interface 23 for transmitting communication data, and the processor 21 can also send the throttle through the communication interface 23.
  • the control signal causes the electronic governor to receive the throttle control signal through the communication channel when the signal received from the throttle channel is abnormal, continue to control the normal rotation of the motor, prevent the aircraft from being out of control of the arm, and ensure the normal flight of the aircraft. Improve the reliability of the aircraft.
  • controller in this embodiment may further include a throttle signal generating circuit for generating a throttle control signal, and the throttle signal generating circuit is communicably connected to the processor 21 for transmitting the generated throttle control signal. To the processor 21.
  • the throttle control signal may include a switch tube or the like to generate a corresponding PWM signal or PPM signal as the throttle control signal.
  • the processor 21, the throttle signal generating circuit, the throttle signal interface 22, and the communication interface 23 may be integrated together, that is, disposed in the same integrated chip. Alternatively, the processor 21, the throttle signal generating circuit, the throttle signal interface 22, and the communication interface 23 may be separately provided.
  • the processor 21 can receive a throttle control signal transmission from the communication interface 23. Transmitting fault information; transmitting the fault control information according to the throttle control signal, and transmitting the throttle control signal from the communication interface 23.
  • the throttle control signal may be simultaneously transmitted from the throttle signal interface 22 and the communication interface 23, respectively.
  • the signal form of the throttle control signal transmitted from the throttle signal interface 22 and from the communication interface 23 may be different.
  • the throttle control signal sent by the throttle signal interface 22 may be an analog signal.
  • the throttle control signal sent by the communication interface 23 can be a digital signal.
  • the processor 21 receives the throttle control signal transmission recovery message from the communication interface 23; transmits a recovery message according to the throttle control signal, and stops transmitting the throttle control signal from the communication interface 23.
  • Embodiment 8 of the present invention provides a mobile platform.
  • FIG. 9 is a schematic structural diagram of a mobile platform according to Embodiment 8 of the present invention.
  • the mobile platform shown in FIG. 9 is an unmanned aerial vehicle.
  • the mobile platform may also be a pan/tilt, a remote control vehicle, or other devices, which is not limited in this embodiment.
  • Figure 9 is only used to exemplarily show the structure of the mobile platform.
  • the mobile platform provided by this embodiment may include: a motor 3, a controller (not shown) and an electronic governor 1;
  • the motor 3 is connected to the electronic governor 1;
  • a throttle channel for transmitting a throttle control signal and a communication channel for transmitting communication data are disposed between the electronic governor 1 and the controller;
  • the controller sends a throttle control signal to the electronic governor 1 through the throttle passage; the electronic governor 1 is from the communication channel when a signal transmission state of the throttle passage is an abnormal state The throttle control signal is received.
  • the mobile platform described in this embodiment may be used to execute the throttle control signal processing method described in Embodiment 5.
  • the functions and implementation methods of the components of the mobile platform in this embodiment are similar to those in the fifth embodiment, and are not described herein again.
  • the mobile platform provided in this embodiment includes a motor 3, a controller, and an electronic governor 1.
  • a throttle channel for transmitting a throttle control signal is disposed between the electronic governor 1 and the controller.
  • a communication channel for transmitting communication data wherein the electronic governor 1 can receive the throttle control signal from the communication channel when the signal transmission state of the throttle channel is abnormal, and continue to control the normal rotation of the motor 3 To prevent the aircraft from running out of control, to ensure the normal flight of the aircraft and improve the reliability of the aircraft.
  • the abnormal state may be that the throttle channel does not receive the throttle control signal, or the throttle control signal received by the throttle channel is abnormal.
  • the electronic governor 1 may determine whether the throttle control signal received by the throttle channel is abnormal according to whether the characteristic information of the throttle control signal received from the throttle channel meets a preset condition.
  • the feature information may be frequency information and/or pulse width information of the throttle control signal.
  • the electronic governor 1 may send a throttle control signal transmission failure message to the controller through the communication channel;
  • the controller may send the throttle control signal to the electronic governor 1 through the communication channel according to the throttle control signal fault message.
  • the throttle control signals may be transmitted from the throttle channel and the communication channel in parallel at the same time.
  • the signal form when the throttle control signal is respectively transmitted to the throttle signal channel and the communication channel may be different.
  • the throttle control signal may be transmitted to the throttle passage in an analog signal configuration.
  • the throttle control signal can be transmitted to the communication channel in the form of a digital signal.
  • the electronic governor 1 can receive the throttle control signal from the throttle channel when the signal transmission state of the throttle channel returns to a normal state.
  • 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.

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Abstract

一种用于电子调速器（1）的油门控制信号处理方法，电子调速器（1）设置有用于接收油门控制信号的油门信号接口（12）以及用于传输通信数据的通信接口（13），方法包括：实时监测油门信号接口（12）的信号传输状态，若油门信号接口（12）的信号传输状态为异常状态，则从通信接口（13）接收油门控制信号。通过实时监测油门信号接口的信号传输状态，并在油门信号接口的信号传输状态为异常状态时，从通信接口接收油门控制信号，使得电子调速器能够继续控制电机正常转动，防止飞行器出现机臂动力失控，保证飞行器的正常飞行，提高了飞行器的可靠性。还公开了电子调速器、控制器以及移动平台。

Description

油门控制信号处理方法、电子调速器、控制器及移动平台 技术领域
本发明涉及飞行器技术领域，尤其涉及一种油门控制信号处理方法、电子调速器、控制器及移动平台。
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，电子调速器与飞行器的控制器之间设置有油门控制线，在飞行过程中，控制器能够通过油门控制线向电子调速器发送油门控制信号，油门控制信号多为PWM波或者PPM波，电子调速器在接收到油门控制信号后，可以根据所述油门控制信号控制电机转动，从而实现飞行功能。
现有技术的不足之处在于，在实际应用中，由于线路受损等原因，电子调速器接收到的油门控制信号可能会出现异常，例如油门控制信号丢失或者信号频率不稳定等，会导致电子调速器无法正常地控制电机转动，严重时还会引起飞行事故。
发明内容
本发明实施例提供一种油门控制信号处理方法，所述方法应用于电子调速器，所述电子调速器设置有用于接收油门控制信号的油门信号接口以及用于传输通信数据的通信接口，所述方法包括：
实时监测所述油门信号接口的信号传输状态；
若所述油门信号接口的信号传输状态为异常状态，则从所述通信接口接收所述油门控制信号。
本发明实施例还提供一种油门控制信号处理方法，所述方法应用于控制器，所述控制器设置有用于发送油门控制信号的油门信号接口以及用于传输通信数据的通信接口，所述方法包括：
从所述通信接口发送油门控制信号。
本发明实施例还提供一种油门控制信号处理方法，电子调速器与控制器之间设置有用于传输油门控制信号的油门通道以及用于传输通信数据的通信通道，所述方法包括：
若所述油门通道的信号传输状态为异常状态，则所述电子调速器从所述通信通道接收所述油门控制信号。
本发明实施例还提供一种电子调速器，包括：处理器、用于接收油门控制信号的油门信号接口以及用于传输通信数据的通信接口；
其中，在实时监测到的所述油门信号接口的信号传输状态为异常状态时，所述处理器从所述通信接口接收所述油门控制信号。
本发明实施例还提供一种控制器，包括：处理器、用于发送油门控制信号的油门信号接口以及用于传输通信数据的通信接口；
所述处理器从所述通信接口发送油门控制信号。
本发明实施例还提供一种移动平台，包括：电机、控制器以及电子调速器；
所述电机与电子调速器连接；
所述电子调速器与所述控制器之间设置有用于传输油门控制信号的油门通道以及用于传输通信数据的通信通道；
其中，所述控制器通过所述油门通道向所述电子调速器发送油门控制信号；所述电子调速器在所述油门通道的信号传输状态为异常状态时，从所述通信通道接收所述油门控制信号。
本发明实施例提供的油门控制信号处理方法、电子调速器、控制器及移动平台，通过实时监测油门信号接口的信号传输状态，并在所述油门信号接口的信号传输状态为异常状态时，从通信接口接收油门控制信号，使得电子调速器能够继续控制电机正常转动，防止移动平台出现动力失控，例如，防止无人飞行器失去飞行动力，从而保证移动平台的正常工作，提高了移动平台的可靠性。
附图说明
图1为本发明实施例一提供的油门控制信号处理方法的流程图；
图2为本发明实施例一提供的油门控制信号处理方法中电子调速器和控 制器的连接示意图；
图3为本发明实施例二提供的油门控制信号处理方法的流程图；
图4为本发明实施例三提供的油门控制信号处理方法的流程图
图5为本发明实施例四提供的油门控制信号处理方法的流程图；
图6为本发明实施例五提供的油门控制信号处理方法的流程图；
图7为本发明实施例六提供的电子调速器的结构示意图；
图8为本发明实施例七提供的控制器的结构示意图；
图9为本发明实施例八提供的移动平台的结构示意图。
附图标记：
1-电子调速器 11-处理器 12-油门信号接口 13-通信接口 2-控制器 21-处理器 22-油门信号接口 23-通信接口 3-电机
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。
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油门控制信号处理方法。图1为本发明实施例一提供的油门控制信号处理方法的流程图。如图1所示，本实施例中的方 法，可以包括：
步骤101、实时监测所述油门信号接口的信号传输状态。
具体地，本实施例中的方法可以应用于电子调速器。本实施例中，电子调速器能够接收无人飞行器中的控制器发送的油门控制信号，并根据油门控制信号控制无人飞行器的电机转动，从而实现无人飞行器的正常飞行。
图2为本发明实施例一提供的油门控制信号处理方法中电子调速器和控制器的连接示意图。如图2所示，电子调速器1和控制器2之间可以设置有两个通道。其中一个为油门通道，另一个为通信通道。
所述油门通道可以用于传输油门控制信号，所述油门控制信号可以为PWM(Pulse Width Modulation，脉冲宽度调制)信号或者PPM(Pulse Position Modulation，脉冲位置调制)信号等。
所述通信通道可以用于传输通信数据。例如，控制器2可以通过所述通信通道向电子调速器1发送可执行文件或者调试参数等，从而使电子调速器1实现固件升级、参数修改等功能。所述电子调速器1可以通过所述通信通道向所述控制器2发送与运行状态相关的运行数据，以及电子调速器1的自身工作状态数据等。
所述电子调速器1可以设置有用于接收油门控制信号的油门信号接口以及用于传输通信数据的通信接口。所述控制器2可以设置有用于发送油门控制信号的油门信号接口以及用于传输通信数据的通信接口。油门信号接口和通信接口可以有多种实现形式，例如，可以为导线、电路板走线、端子、引脚等，本实施例对此不作限制。
前文所述的油门通道和通信通道也可以有多种实现方式。例如，所述电子调速器1的油门信号接口与所述控制器2的油门信号接口直接连接，形成所述油门通道。或者，所述电子调速器1的油门信号接口与所述控制器2的油门信号接口通过导线、电路板走线或其它部件实现电连接，从而形成所述油门通道。类似的，所述电子调速器1的通信接口与所述控制器2的通信接口可以直接连接，形成所述通信通道。或者，所述电子调速器1的通信接口与所述控制器2的通信接口可以通过导线、电路板走线或其它部件实现电连接，从而形成所述通信通道。
本步骤中，电子调速器1能够实时监测油门信号接口的信号传输状态。 所述信号传输状态为正常状态，则说明所述电子调速器1的油门信号接口接收到的是正常的油门控制信号。若所述信号传输状态为异常状态，则说明所述电子调速器1的油门信号接口没有接收到正常的油门控制信号。
具体地，所述异常状态可以为所述油门信号接口未接收到所述油门控制信号，或者所述油门信号接口接收到的所述油门控制信号出现异常。
所述电子调速器1中可以设置有用于监测所述油门信号接口的信号传输状态的监测电路。例如，所述监测电路可以根据所述油门信号接口接收到的油门控制信号的特征信息是否满足预设条件，确定所述油门信号接口接收到的所述油门控制信号是否出现异常。所述特征信息可以为所述油门控制信号的频率信息和/或脉宽信息。
所述监测电路可以包括电压检测电路或电流检测电路，所述电压检测电路和所述电流检测电路分别用于检测所述油门信号接口上接收到的油门控制信号的电压信息或电流信息，所述监测电路可以根据所述油门控制信号的电压信息或电流信息确定所述油门控制信号的特征信息，从而确定所述信号传输状态。
例如，若所述监测电路在持续预设时间内检测到的所述油门信号接口接收到的信号的电压或电流为0，则说明所述油门信号接口未接收到所述油门控制信号。
若从所述油门信号接口上接收到的信号每隔x秒出现一次高电平，每次高电平持续时间为y秒，则所述油门信号接口上接收到的油门控制信号的特征信息为：频率为1/x赫兹，脉宽为y秒。
假设油门控制信号为正常状态的预设条件为频率在a-b赫兹之间，脉宽为c-d秒之间，则通过比较1/x与a、b，y与c、d之间的大小即可确定从所述油门信号接口接收到的油门控制信号是否为正常状态。
若从1/x不在a到b的范围内，或者y不在c到d的范围内，则说明所述油门信号接口接收到的所述油门控制信号出现异常。
所述油门控制信号的特征信息与所述信号传输状态之间的对应关系可以根据实际需要来设置，并不局限于上述方式。
当然，确定所述油门控制接口的信号传输状态也可以由电子调速器1的其它部件来完成，本实施例对此不作限制。
步骤102、若所述油门信号接口的信号传输状态为异常状态，则从所述通信接口接收所述油门控制信号。
若所述油门信号接口的信号传输状态为异常状态，控制器2可以通过通信通道向所述电子调速器1发送油门控制信号。电子调速器1能够从通信接口上接收所述油门控制信号，以控制电机正常转动。
所述油门控制信号分别传送至所述油门信号接口及所述通信接口时的信号形态可以不同。所述油门控制信号可以以模拟信号形态传送至所述油门信号接口，例如PWM信号或者PPM信号等。所述油门控制信号可以以数字信号形态传送至所述通信接口，例如所述PWM信号或者PPM信号的频率信息或脉宽信息等。
所述电子调速器1在接收到所述数字信号形态的油门控制信号后，可以根据所述数字信号形态的油门控制信号生成相应的PWM信号或PPM信号，从而实现对电机的控制。
在实际应用中，电子调速器1和控制器2之间可以既设置有油门通道，又可以设置有通信通道。所述控制器2可以通过所述通信通道向所述电子调速器1发送通信数据，使电子调速器1实现固件升级、参数更新等功能。在正常情况下，所述电子调速器1通过油门通道接收所述控制器2发送的油门控制信息，控制电机正常转动。当所述电子调速器1的油门信号接口的信号传输状态出现异常时，所述电子调速器1可以从通信接口获取油门控制信号，继续进行对电机的控制，保证飞行器正常飞行。
本实施例提供的油门控制信号处理方法，在电子调速器1中设置有用于接收油门控制信号的油门信号接口以及用于传输通信数据的通信接口，通过实时监测所述油门信号接口的信号传输状态，并在所述油门信号接口的信号传输状态为异常状态时，从所述通信接口接收所述油门控制信号，使得电子调速器1能够继续控制电机正常转动，防止飞行器出现机臂动力失控，保证飞行器的正常飞行，提高了飞行器的可靠性。
在上述实施例提供的技术方案中，所述电子调速器1从所述通信接口接收到的油门控制信号，可以是控制器2在所述电子调速器1的油门控制接口的信号传输状态出现异常时才在所述通信通道上发送的，或者，可以是出现异常之前就发送的。下面分别以实施例二和实施例三进行说明。
实施例二
本发明实施例二提供一种油门控制信号处理方法。本实施例是在实施例一提供的技术方案的基础上，在油门控制接口的信号传输状态出现异常时，电子调速器1向控制器2发送油门控制信号传输故障消息，从而使控制器2在接收到所述油门控制信号传输故障消息后，通过通信通道向所述电子调速器1发送油门控制信号。
图3为本发明实施例二提供的油门控制信号处理方法的流程图。如图3所示，本实施例中的方法，可以包括：
步骤201、实时监测所述油门信号接口的信号传输状态。
本实施例中的步骤201与实施例一中的步骤101的具体实现原理类似，此处不再赘述。
在本实施例中，在所述油门信号接口的信号传输状态为正常状态的情况下，控制器2仅通过油门通道发送油门控制信号，电子调速器1仅通过油门控制接口接收所述油门控制信号。
也就是说，在所述油门信号接口的信号传输状态出现异常之前，所述通信通道中并不传输所述油门控制信号。
步骤202、若所述油门信号接口的信号传输状态为异常状态，则通过所述通信接口发送油门控制信号传输故障消息。
具体地，所述电子调速器1可以将所述油门控制信号传输故障消息通过所述通信接口发送出去，从而控制器2可以从通信通道接收到所述油门控制信号传输故障消息，使得控制器2及时获知所述电子调速器1从油门信号接口接收到的油门控制信号出现故障。
进而，所述控制器2可以根据所述油门控制信号传输故障消息，通过通信通道向所述电子调速器1发送所述油门控制信号。
步骤203、从所述通信接口接收所述油门控制信号。
通过步骤201和步骤202，所述控制器2可以在所述电子调速器1的油门信号接口的信号传输状态出现异常时，通过通信通道发送所述油门控制信号。本步骤中所述电子调速器1就可以从所述通信接口接收所述油门控制信号，并根据从所述通信接口接收到的所述油门控制信号控制电机转动。
本实施例提供的油门控制信号处理方法，通过实时监测所述油门信号接口的信号传输状态，并在所述油门信号接口的信号传输状态为异常状态时，通过所述通信接口发送油门控制信号传输故障消息，使得控制器2能够及时获知电子调速器1在接收油门控制信号时出现异常，并在出现异常时才通过通信通道向所述电子调速器1发送油门控制信号，节省了信号资源，且有效节约了飞行器的电源电量，提高了飞行器的续航能力。
进一步的，若从所述油门信号接口的信号传输状态为异常状态，还可以根据接收到的信号确定出现异常的原因。
例如，若从所述油门信号接口接收到的信号的电压或电流较低，远小于正常情况下的PWM信号或PPM信号的高电平电压或者高电平电流，说明可能电源电量不足。若从所述油门信号接口接收到的信号的电压或电流持续为0，说明电子调速器1和控制器2之间的油门通道可能已经断开。
根据出现异常的原因，所述电子调速器1可以执行相应的补救操作。例如，在电源电量不足时启用备用电源。或者，所述电子调速器1可以在向控制器2发送的所述油门控制信号传输故障消息中携带相应的异常标识，使得控制器2根据异常标识执行相应操作。例如，在油门通道断开时，所述控制器2可以向用户发送信息，报告异常情况等。
通过所述电子调速器1和所述控制器2根据出现异常的原因，执行相应的操作，能够更快地使油门通道的信号传输状态恢复正常，进一步提高了飞行器的可靠性。
在上述实施例提供的技术方案的基础上，优选的是，若所述油门信号接口的信号传输状态恢复为正常状态，则电子调速器1可以从所述油门信号接口接收所述油门控制信号，实现对电机的继续控制。
进一步的，若所述油门信号接口的信号传输状态恢复为正常状态，则所述电子调速器1可以从所述通信接口向控制器2发送所述油门控制信号传输恢复消息，所述控制器2在接收到所述油门控制信号传输恢复消息后，可以停止从所述通信接口发送油门控制信号。
实施例三
本发明实施例三提供一种油门控制信号处理方法。本实施例是在实施例 一提供的技术方案的基础上，在油门控制接口的信号传输状态出现异常之前，控制器2就同时通过油门通道和通信通道分别并行发送所述油门控制信号。
图4为本发明实施例三提供的油门控制信号处理方法的流程图。如图4所示，本实施例中的方法，可以包括：
步骤301、实时监测所述油门信号接口的信号传输状态，其中，油门控制信号分别同时并行传送至所述油门信号接口及所述通信接口。
具体地，在飞行器正常飞行过程中，控制器2可以通过油门通道和通信通道分别发送所述油门控制信号。即，无论油门信号接口的信号传输状态是否正常，电子调速器1均可以在从所述油门信号接口接收到油门控制信号的同时，在通信接口也接收到油门控制信号。
所述油门控制信号分别传送至所述油门信号接口及所述通信接口时的信号形态可以是不同的。所述油门控制信号可以以模拟信号形态传送至所述油门信号接口，以数字信号形态传送至所述通信接口。
本步骤中，对所述油门信号接口的信号传输状态的判断，可以采用实施例一中的步骤101中的方法。例如，根据所述油门信号接口接收到的油门控制信号的特征信息是否满足预设条件，确定所述油门信号接口接收到的所述油门控制信号是否出现异常。
此外，本实施例还提供另外一种判断方法。电子调速器1可以将从油门信号接口接收到的油门控制信号和从通信接口接收到的油门控制信号进行对比，若两者对应的频率信息和/或脉宽信息是一致的，则判断所述油门信号接口的信号传输状态为正常状态，反之则判断为异常状态。
或者，可以将上述两种方法结合来判断油门信号接口的信号传输状态，能够进一步增加判断的准确性。
例如，若所述油门信号接口接收到的油门控制信号的特征信息满足预设条件，并且从油门信号接口接收到的油门控制信号和从通信接口接收到的油门控制信号一致，则判断所述油门信号接口的信号传输状态为正常状态。当然，也可以是，若所述油门信号接口接收到的油门控制信号的特征信息满足预设条件，或者从油门信号接口接收到的油门控制信号和从通信接口接收到的油门控制信号一致，则判断所述油门信号接口的信号传输状态为正常状态。
步骤302、若所述油门信号接口的信号传输状态为异常状态，则从所述 通信接口接收所述油门控制信号。
由于电子调速器1同时从所述油门信号接口和所述通信接口接收到油门控制信号，因此，当所述油门信号接口的信号传输状态为异常状态时，可以切换到通信接口，利用从通信接口接收到的油门控制信号控制电机转动。
本实施例提供的油门控制信号处理方法中，油门控制信号分别同时并行传送至电子调速器1的油门信号接口及通信接口，若所述油门信号接口的信号传输状态为异常状态，则所述电子调速器1可以从所述通信接口接收所述油门控制信号，步骤简单，易于实现。
实施例四
本发明实施例四提供一种油门控制信号处理方法。图5为本发明实施例四提供的油门控制信号处理方法的流程图。如图5所示，本实施例中的方法，可以包括：
步骤401、从所述通信接口发送油门控制信号。
具体地，本实施例中的方法可以应用于控制器2。所述控制器2设置有用于发送油门控制信号的油门信号接口以及用于传输通信数据的通信接口。所述控制器2的具体结构、与电子调速器1之间的连接关系及信号交互流程均与实施例一类似，此处不再赘述。
本实施例中，所述控制器2从所述通信接口发送油门控制信号，可以至少包括两种实现方式。
在一种实现方式中，先从油门信号接口发送油门控制信号，在电子调速器1从油门信号接口接收到的信号出现异常时，再从所述通信接口发送所述油门控制信号。具体地，步骤401可以包括：从所述通信接口接收油门控制信号传输故障消息；根据所述油门控制信号传输故障消息，从所述通信接口发送所述油门控制信号，其具体实现方式可以参照实施例二。
进一步的，还可以从所述通信接口接收所述油门控制信号传输恢复消息；根据所述油门控制信号传输恢复消息，停止从所述通信接口发送油门控制信号。
在另一种实现方式中，在从油门信号接口发送油门控制信号的同时，就从所述通信接口发送所述油门控制信号。也就是说，所述油门控制信号同时 从所述油门信号接口及所述通信接口分别发送，其具体实现方式可以参照实施例三。
本实施例提供的油门控制信号处理方法，在控制器2中设置有用于发送油门控制信号的油门信号接口以及用于传输通信数据的通信接口，控制器2还可以通过所述通信接口发送所述油门控制信号，使得电子调速器1在从油门通道接收到的信号出现异常时，可以通过通信通道接收所述油门控制信号，继续控制电机正常转动，防止飞行器出现机臂动力失控，保证飞行器的正常飞行，提高了飞行器的可靠性。
在上述实施例提供的技术方案的基础上，优选的是，从所述油门信号接口和从所述通信接口发送的油门控制信号的信号形态不同。
所述油门信号接口发送的油门控制信号为模拟信号。所述通信接口发送的油门控制信号为数字信号。
实施例五
本发明实施例五提供一种油门控制信号处理方法。图6为本发明实施例五提供的油门控制信号处理方法的流程图。如图6所示，本实施例中的方法可以包括：
步骤501、若所述油门通道的信号传输状态为异常状态，则所述电子调速器1从所述通信通道接收所述油门控制信号。
具体地，本实施例中的方法可以应用于电子调速器1和控制器2。电子调速器1与控制器2之间设置有用于传输油门控制信号的油门通道以及用于传输通信数据的通信通道。本实施例中各部件的结构、连接关系及交互流程均与前述实施例类似，此处不再赘述。
本实施例提供的油门控制信号处理方法，在电子调速器1与控制器2之间设置有用于传输油门控制信号的油门通道以及用于传输通信数据的通信通道，通过电子调速器1在所述油门通道的信号传输状态为异常状态时，从所述通信通道接收所述油门控制信号，使得所述电子调速器1能够继续控制电机正常转动，防止飞行器出现机臂动力失控，保证飞行器的正常飞行，提高了飞行器的可靠性。
进一步的，所述异常状态可以为所述油门通道未接收到所述油门控制信 号，或者所述油门通道接收到的所述油门控制信号出现异常。
进一步的，所述电子调速器1可以根据从所述油门通道接收到的油门控制信号的特征信息是否满足预设条件，确定从所述油门通道接收到的所述油门控制信号是否出现异常。所述特征信息可以为所述油门控制信号的频率信息和/或脉宽信息。若所述信号传输状态为异常状态，则所述电子调速器1可以通过所述通信通道向所述控制器2发送油门控制信号传输故障消息，以使所述控制器2根据所述油门控制信号故障消息通过所述通信通道向所述电子调速器1发送所述油门控制信号。
或者，所述油门控制信号可以分别同时并行从所述油门通道及所述通信通道传输。
进一步的，所述油门控制信号分别传送至所述油门信号通道及所述通信通道时的信号形态可以不同。
所述油门控制信号可以以模拟信号形态传送至所述油门通道。
所述油门控制信号可以以数字信号形态传送至所述通信通道。
进一步的，若所述油门通道的信号传输状态恢复为正常状态，则所述电子调速器1可以从所述油门通道接收所述油门控制信号。
实施例六
本发明实施例六提供一种电子调速器。图7为本发明实施例六提供的电子调速器的结构示意图。如图7所示，本实施例中的电子调速器，可以包括：
处理器11、用于接收油门控制信号的油门信号接口12以及用于传输通信数据的通信接口13。
其中，在实时监测到的所述油门信号接口12的信号传输状态为异常状态时，所述处理器11从所述通信接口13接收所述油门控制信号。
本实施例所述的电子调速器，可以用于执行实施例一所述的油门控制信号处理方法。本实施例中的电子调速器的各部件功能及实现方式均与实施例一类似，此处不再赘述。
本实施例中的处理器11的功能，可以通过软件实现，也可以通过硬件模块实现。例如，确定所述油门信号接口12接收到的油门控制信号的特征信息，可以通过计数器、定时器和比较器来实现。根据所述特征信息是否满足预设 条件，确定所述油门信号接口12接收到的所述油门控制信号是否出现异常，可以通过比较器来实现。将从油门控制接口接收油门控制信号切换为从通信接口13接收油门控制信号，可以通过开关来实现。
本实施例提供的电子调速器，包括处理器11、用于接收油门控制信号的油门信号接口12以及用于传输通信数据的通信接口13，处理器11通过在所述油门信号接口12的信号传输状态为异常状态时，从所述通信接口13接收所述油门控制信号，继续控制电机正常转动，防止飞行器出现机臂动力失控，保证飞行器的正常飞行，提高了飞行器的可靠性。
进一步的，所述的电子调速器，还可以包括用于监测所述油门信号接口12的信号传输状态的监测电路，所述监测电路与所述处理器11通讯连接，用于将信号传输状态传送给所述处理器11。
所述监测电路的实现方式也与实施例一类似，此处不再赘述。所述处理器11、所述监测电路、所述油门信号接口12以及所述通信接口13可以集成在一起，即设置在同一集成芯片中。或者，所述处理器11、所述监测电路、所述油门信号接口12以及所述通信接口13可以分别单独设置。
进一步的，所述异常状态可以为所述油门信号接口12未接收到所述油门控制信号，或者所述油门信号接口12接收到的所述油门控制信号出现异常。
进一步的，所述处理器11可以根据所述油门信号接口12接收到的油门控制信号的特征信息是否满足预设条件，确定所述油门信号接口12接收到的所述油门控制信号是否出现异常；若所述油门信号接口12的信号传输状态为异常状态，则从所述通信接口13接收所述油门控制信号。所述特征信息为所述油门控制信号的频率信息和/或脉宽信息。
进一步的，所述处理器11可以在所述油门信号接口12的信号传输状态为异常状态时，通过所述通信接口13发送油门控制信号传输故障消息，并从所述通信接口13接收所述油门控制信号。
或者，所述油门控制信号可以分别同时并行传送至所述油门信号接口12及所述通信接口13。
进一步的，所述油门控制信号分别传送至所述油门信号接口12及所述通信接口13时的信号形态可以不同。所述油门控制信号可以以模拟信号形态 传送至所述油门信号接口12。所述油门控制信号可以以数字信号形态传送至所述通信接口13。
进一步的，所述处理器11可以在所述油门信号接口12的信号传输状态恢复为正常状态时，从所述油门信号接口12接收所述油门控制信号。
实施例七
本发明实施例七提供一种控制器。图8为本发明实施例七提供的控制器的结构示意图。如图8所示，本实施例中的控制器，可以包括：
处理器21、用于发送油门控制信号的油门信号接口22以及用于传输通信数据的通信接口23。
所述处理器21可以从所述通信接口23发送油门控制信号。
本实施例所述的控制器，可以用于执行实施例四所述的油门控制信号处理方法。本实施例中的控制器的各部件功能及实现方法均与实施例四类似，此处不再赘述。
本实施例提供的控制器，包括处理器21、用于发送油门控制信号的油门信号接口22以及用于传输通信数据的通信接口23，处理器21还可以通过所述通信接口23发送所述油门控制信号，使得电子调速器在从油门通道接收到的信号出现异常时，可以通过通信通道接收所述油门控制信号，继续控制电机正常转动，防止飞行器出现机臂动力失控，保证飞行器的正常飞行，提高了飞行器的可靠性。
进一步的，本实施例所述控制器，还可以包括用于产生油门控制信号的油门信号产生电路，所述油门信号产生电路与所述处理器21通讯连接，用于将产生的油门控制信号传送给所述处理器21。
所述油门控制信号可以包括开关管等部件，以产生相应的PWM信号或者PPM信号作为所述油门控制信号。
所述处理器21、所述油门信号产生电路、所述油门信号接口22以及所述通信接口23可以集成在一起，即设置在同一集成芯片中。或者，所述处理器21、所述油门信号产生电路、所述油门信号接口22以及所述通信接口23可以分别单独设置。
进一步的，所述处理器21可以从所述通信接口23接收油门控制信号传 输故障信息；根据所述油门控制信号传输故障信息，从所述通信接口23发送所述油门控制信号。
或者，所述油门控制信号可以同时从所述油门信号接口22及所述通信接口23分别发送。
进一步的，从所述油门信号接口22和从所述通信接口23发送的油门控制信号的信号形态可以不同。
所述油门信号接口22发送的油门控制信号可以为模拟信号。
所述通信接口23发送的油门控制信号可以为数字信号。
进一步的，所述处理器21从所述通信接口23接收所述油门控制信号传输恢复消息；根据所述油门控制信号传输恢复消息，停止从所述通信接口23发送油门控制信号。
实施例八
本发明实施例八提供一种移动平台。图9为本发明实施例八提供的移动平台的结构示意图。图9示出的移动平台为无人飞行器，当然所述移动平台还可以是云台、遥控战车或其它设备，本实施例对此不作限制。图9仅用于示例性地表明移动平台的结构。
如图9所示，本实施例提供的移动平台，可以包括：电机3、控制器(图中未示出)以及电子调速器1；
所述电机3与电子调速器1连接；
所述电子调速器1与所述控制器之间设置有用于传输油门控制信号的油门通道以及用于传输通信数据的通信通道；
其中，所述控制器通过所述油门通道向所述电子调速器1发送油门控制信号；所述电子调速器1在所述油门通道的信号传输状态为异常状态时，从所述通信通道接收所述油门控制信号。
本实施例所述的移动平台，可以用于执行实施例五所述的油门控制信号处理方法。本实施例中的移动平台的各部件功能及实现方法均与实施例五类似，此处不再赘述。
本实施例提供的移动平台，包括电机3、控制器以及电子调速器1，所述电子调速器1与所述控制器之间设置有用于传输油门控制信号的油门通道以 及用于传输通信数据的通信通道，所述电子调速器1在所述油门通道的信号传输状态为异常状态时，可以从所述通信通道接收所述油门控制信号，继续控制电机3正常转动，防止飞行器出现机臂动力失控，保证飞行器的正常飞行，提高了飞行器的可靠性。
进一步的，所述异常状态可以为所述油门通道未接收到所述油门控制信号，或者所述油门通道接收到的所述油门控制信号出现异常。
进一步的，所述电子调速器1可以根据从所述油门通道接收到的油门控制信号的特征信息是否满足预设条件，确定所述油门通道接收到的所述油门控制信号是否出现异常。
进一步的，所述特征信息可以为所述油门控制信号的频率信息和/或脉宽信息。
进一步的，若所述信号传输状态为异常状态，则所述电子调速器1可以通过所述通信通道向所述控制器发送油门控制信号传输故障消息；
相应的，所述控制器可以根据所述油门控制信号故障消息通过所述通信通道向所述电子调速器1发送所述油门控制信号。
或者，所述油门控制信号可以分别同时并行从所述油门通道及所述通信通道传输。
进一步的，所述油门控制信号分别传送至所述油门信号通道及所述通信通道时的信号形态可以不同。
所述油门控制信号可以以模拟信号形态传送至所述油门通道。
所述油门控制信号可以以数字信号形态传送至所述通信通道。
进一步的，所述电子调速器1可以在所述油门通道的信号传输状态恢复为正常状态时，从所述油门通道接收所述油门控制信号。
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。
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。
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。
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 (61)

  1. 一种油门控制信号处理方法，其特征在于，所述方法应用于电子调速器，所述电子调速器设置有用于接收油门控制信号的油门信号接口以及用于传输通信数据的通信接口，所述方法包括：
    实时监测所述油门信号接口的信号传输状态；
    若所述油门信号接口的信号传输状态为异常状态，则从所述通信接口接收所述油门控制信号。
  2. 根据权利要求1所述的方法，其特征在于，所述异常状态为所述油门信号接口未接收到所述油门控制信号，或者所述油门信号接口接收到的所述油门控制信号出现异常。
  3. 根据权利要求2所述的方法，其特征在于，
    根据所述油门信号接口接收到的油门控制信号的特征信息是否满足预设条件，确定所述油门信号接口接收到的所述油门控制信号是否出现异常。
  4. 根据权利要求3所述的方法，其特征在于，所述特征信息为所述油门控制信号的频率信息和/或脉宽信息。
  5. 根据权利要求1所述的方法，其特征在于，还包括：
    若所述信号传输状态为异常状态，则通过所述通信接口发送油门控制信号传输故障消息。
  6. 根据权利要求1所述的方法，其特征在于，所述油门控制信号分别同时并行传送至所述油门信号接口及所述通信接口。
  7. 根据权利要求1所述的方法，其特征在于，所述油门控制信号分别传送至所述油门信号接口及所述通信接口时的信号形态不同。
  8. 根据权利要求7所述的方法，其特征在于，所述油门控制信号以模拟信号形态传送至所述油门信号接口。
  9. 根据权利要求7所述的方法，其特征在于，所述油门控制信号以数字信号形态传送至所述通信接口。
  10. 根据权利要求1所述的方法，其特征在于，还包括：
    若所述油门信号接口的信号传输状态恢复为正常状态，则从所述油门信号接口接收所述油门控制信号。
  11. 一种油门控制信号处理方法，其特征在于，所述方法应用于控制器，所述控制器设置有用于发送油门控制信号的油门信号接口以及用于传输通信数据的通信接口，所述方法包括：
    从所述通信接口发送油门控制信号。
  12. 根据权利要求11所述的方法，其特征在于，从所述通信接口发送油门控制信号，具体包括：
    从所述通信接口接收油门控制信号传输故障消息；
    根据所述油门控制信号传输故障消息，从所述通信接口发送所述油门控制信号。
  13. 根据权利要求11所述的方法，其特征在于，所述油门控制信号同时从所述油门信号接口及所述通信接口分别发送。
  14. 根据权利要求11-13任一项所述的方法，其特征在于，从所述油门信号接口和从所述通信接口发送的油门控制信号的信号形态不同。
  15. 根据权利要求14所述的方法，其特征在于，所述油门信号接口发送的油门控制信号为模拟信号。
  16. 根据权利要求14所述的方法，其特征在于，所述通信接口发送的油门控制信号为数字信号。
  17. 根据权利要求12所述的方法，其特征在于，还包括：
    从所述通信接口接收所述油门控制信号传输恢复消息；
    根据所述油门控制信号传输恢复消息，停止从所述通信接口发送油门控制信号。
  18. 一种油门控制信号处理方法，其特征在于，电子调速器与控制器之间设置有用于传输油门控制信号的油门通道以及用于传输通信数据的通信通 道，所述方法包括：
    若所述油门通道的信号传输状态为异常状态，则所述电子调速器从所述通信通道接收所述油门控制信号。
  19. 根据权利要求18所述的方法，其特征在于，所述异常状态为所述油门通道未接收到所述油门控制信号，或者所述油门通道接收到的所述油门控制信号出现异常。
  20. 根据权利要求19所述的方法，其特征在于，还包括：
    所述电子调速器根据从所述油门通道接收到的油门控制信号的特征信息是否满足预设条件，确定从所述油门通道接收到的所述油门控制信号是否出现异常。
  21. 根据权利要求20所述的方法，其特征在于，所述特征信息为所述油门控制信号的频率信息和/或脉宽信息。
  22. 根据权利要求18所述的方法，其特征在于，还包括：
    若所述信号传输状态为异常状态，则所述电子调速器通过所述通信通道向所述控制器发送油门控制信号传输故障消息，以使所述控制器根据所述油门控制信号故障消息通过所述通信通道向所述电子调速器发送所述油门控制信号。
  23. 根据权利要求18所述的方法，其特征在于，所述油门控制信号分别同时并行从所述油门通道及所述通信通道传输。
  24. 根据权利要求18所述的方法，其特征在于，所述油门控制信号分别传送至所述油门信号通道及所述通信通道时的信号形态不同。
  25. 根据权利要求24所述的方法，其特征在于，所述油门控制信号以模拟信号形态传送至所述油门通道。
  26. 根据权利要求24所述的方法，其特征在于，所述油门控制信号以数字信号形态传送至所述通信通道。
  27. 根据权利要求18所述的方法，其特征在于，还包括：
    若所述油门通道的信号传输状态恢复为正常状态，则所述电子调速器从 所述油门通道接收所述油门控制信号。
  28. 一种电子调速器，其特征在于，包括：处理器、用于接收油门控制信号的油门信号接口以及用于传输通信数据的通信接口；
    其中，在实时监测到的所述油门信号接口的信号传输状态为异常状态时，所述处理器从所述通信接口接收所述油门控制信号。
  29. 根据权利要求28所述的电子调速器，其特征在于，还包括用于监测所述油门信号接口的信号传输状态的监测电路，所述监测电路与所述处理器通讯连接，用于将信号传输状态传送给所述处理器。
  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、所述监测电路、所述油门信号接口以及所述通信接口集成在一起。
  31. 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、所述监测电路、所述油门信号接口以及所述通信接口分别单独设置。
  32. 根据权利要求28所述的电子调速器，其特征在于，所述异常状态为所述油门信号接口未接收到所述油门控制信号，或者所述油门信号接口接收到的所述油门控制信号出现异常。
  33. 根据权利要求32所述的电子调速器，其特征在于，所述处理器根据所述油门信号接口接收到的油门控制信号的特征信息是否满足预设条件，确定所述油门信号接口接收到的所述油门控制信号是否出现异常；若所述油门信号接口的信号传输状态为异常状态，则从所述通信接口接收所述油门控制信号。
  34. 根据权利要求33所述的电子调速器，其特征在于，所述特征信息为所述油门控制信号的频率信息和/或脉宽信息。
  35. 根据权利要求28所述的电子调速器，其特征在于，所述处理器在所述油门信号接口的信号传输状态为异常状态时，通过所述通信接口发送油门控制信号传输故障消息，并从所述通信接口接收所述油门控制信号。
  36. 根据权利要求28所述的电子调速器，其特征在于，所述油门控制信号分别同时并行传送至所述油门信号接口及所述通信接口。
  37. 根据权利要求28所述的电子调速器，其特征在于，所述油门控制信号分别传送至所述油门信号接口及所述通信接口时的信号形态不同。
  38. 根据权利要求37所述的电子调速器，其特征在于，所述油门控制信号以模拟信号形态传送至所述油门信号接口。
  39. 根据权利要求37所述的电子调速器，其特征在于，所述油门控制信号以数字信号形态传送至所述通信接口。
  40. 根据权利要求28所述的电子调速器，其特征在于，所述处理器在所述油门信号接口的信号传输状态恢复为正常状态时，从所述油门信号接口接收所述油门控制信号。
  41. 一种控制器，其特征在于，包括：处理器、用于发送油门控制信号的油门信号接口以及用于传输通信数据的通信接口；
    所述处理器从所述通信接口发送油门控制信号。
  42. 根据权利要求41所述的控制器，其特征在于，还包括用于产生油门控制信号的油门信号产生电路，所述油门信号产生电路与所述处理器通讯连接，用于将产生的油门控制信号传送给所述处理器。
  43. 根据权利要求42所述的控制器，其特征在于，所述处理器、所述油门信号产生电路、所述油门信号接口以及所述通信接口集成在一起。
  44. 根据权利要求42所述的控制器，其特征在于，所述处理器、所述油门信号产生电路、所述油门信号接口以及所述通信接口分别单独设置。
  45. 根据权利要求41所述的控制器，其特征在于，所述处理器从所述通信接口接收油门控制信号传输故障信息；根据所述油门控制信号传输故障信息，从所述通信接口发送所述油门控制信号。
  46. 根据权利要求41所述的控制器，其特征在于，所述油门控制信号同时从所述油门信号接口及所述通信接口分别发送。
  47. 根据权利要求41-46任一项所述的控制器，其特征在于，从所述油门信号接口和从所述通信接口发送的油门控制信号的信号形态不同。
  48. 根据权利要求47所述的控制器，其特征在于，所述油门信号接口发送的油门控制信号为模拟信号。
  49. 根据权利要求47所述的控制器，其特征在于，所述通信接口发送的油门控制信号为数字信号。
  50. 根据权利要求45所述的控制器，其特征在于，所述处理器从所述通信接口接收所述油门控制信号传输恢复消息；根据所述油门控制信号传输恢复消息，停止从所述通信接口发送油门控制信号。
  51. 一种移动平台，其特征在于，包括：电机、控制器以及电子调速器；
    所述电机与电子调速器连接；
    所述电子调速器与所述控制器之间设置有用于传输油门控制信号的油门通道以及用于传输通信数据的通信通道；
    其中，所述控制器通过所述油门通道向所述电子调速器发送油门控制信号；所述电子调速器在所述油门通道的信号传输状态为异常状态时，从所述通信通道接收所述油门控制信号。
  52. 根据权利要求51所述的移动平台，其特征在于，所述移动平台为无人飞行器、云台、或遥控战车。
  53. 根据权利要求51所述的移动平台，其特征在于，所述异常状态为所述油门通道未接收到所述油门控制信号，或者所述油门通道接收到的所述油门控制信号出现异常。
  54. 根据权利要求53所述的移动平台，其特征在于，所述电子调速器根据从所述油门通道接收到的油门控制信号的特征信息是否满足预设条件，确定所述油门通道接收到的所述油门控制信号是否出现异常。
  55. 根据权利要求54所述的移动平台，其特征在于，所述特征信息为所述油门控制信号的频率信息和/或脉宽信息。
  56. 根据权利要求51所述的移动平台，其特征在于，若所述信号传输 状态为异常状态，则所述电子调速器通过所述通信通道向所述控制器发送油门控制信号传输故障消息；
    相应的，所述控制器根据所述油门控制信号故障消息通过所述通信通道向所述电子调速器发送所述油门控制信号。
  57. 根据权利要求51所述的移动平台，其特征在于，所述油门控制信号分别同时并行从所述油门通道及所述通信通道传输。
  58. 根据权利要求51所述的移动平台，其特征在于，所述油门控制信号分别传送至所述油门信号通道及所述通信通道时的信号形态不同。
  59. 根据权利要求58所述的移动平台，其特征在于，所述油门控制信号以模拟信号形态传送至所述油门通道。
  60. 根据权利要求58所述的移动平台，其特征在于，所述油门控制信号以数字信号形态传送至所述通信通道。
  61. 根据权利要求51所述的移动平台，其特征在于，所述电子调速器在所述油门通道的信号传输状态恢复为正常状态时，从所述油门通道接收所述油门控制信号。
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