WO2019242197A1 - 折叠螺旋桨控制方法、装置和设备 - Google Patents

折叠螺旋桨控制方法、装置和设备 Download PDF

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Publication number
WO2019242197A1
WO2019242197A1 PCT/CN2018/113015 CN2018113015W WO2019242197A1 WO 2019242197 A1 WO2019242197 A1 WO 2019242197A1 CN 2018113015 W CN2018113015 W CN 2018113015W WO 2019242197 A1 WO2019242197 A1 WO 2019242197A1
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WIPO (PCT)
Prior art keywords
motor
folding propeller
blades
propeller
folding
Prior art date
Application number
PCT/CN2018/113015
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English (en)
French (fr)
Inventor
陈毅东
Original Assignee
深圳市道通智能航空技术有限公司
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Publication of WO2019242197A1 publication Critical patent/WO2019242197A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/50—Blades foldable to facilitate stowage of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061—Frames
    • B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the invention relates to the technical field of unmanned aerial vehicle control, in particular to a folding propeller control method, device and equipment.
  • Folding propellers generally include blades and paddle clips. Paddle clips are used to fix the blades. The blades can be folded and opened at will to save the space occupied by the drone. However, due to the production process and other problems of the existing folding propellers, the damping between the produced blades and the paddle clamps is different. Some are looser and some are tighter. After the folding propeller is installed on the motor of the drone, the user often needs to manually open the folded blades to carry out the take-off process. Otherwise, if the user forgets to open the propeller or the propeller is not opened to a fully deployed state, If the drone is directly controlled for flight, it is easy to cause the drone to roll over during the flight. This phenomenon not only increases the risk of damage to the drone due to rollover, but also affects the user's operating experience.
  • the invention provides a folding propeller control method, device and equipment.
  • the folding propeller can be automatically unfolded before take-off, simplifying manual operation and avoiding Risk of rollover due to direct takeoff of the drone with the propeller deployed.
  • a first aspect of the present invention provides a folding propeller control method applied to a motor of an unmanned aerial vehicle.
  • An output shaft of the motor is connected to the folding propeller, and the folding propeller includes a paddle clamp and is foldably connected to the propeller.
  • the method includes: before the drone takes off, when the at least two blades of the folding propeller are not deployed, the controller sends to the motor to control the deployment of the folding propeller.
  • a driving signal which is used to drive the motor to accelerate; when the rotation speed of the motor reaches the maximum rotation speed of the motor and the folding propeller is in an unexpanded working state, the motor is driven to decelerate;
  • the maximum rotation speed of the propeller is smaller than the take-off rotation speed of the drone; the processes of driving the motor to accelerate and driving the motor to decelerate are repeated until the working state of the folded propeller is fully deployed is monitored.
  • the method further includes: controlling the motor to start from a stand-by state; wherein the controller sends a driving signal to the motor to control the unfolding of the folding propeller, and the driving signal is used to drive the folding propeller
  • the accelerated operation of the motor includes: driving the motor to accelerate from an initial rotation speed according to a first control current.
  • driving the motor to accelerate from the initial speed according to the first control current includes: determining the first control current of the motor according to the following formula:
  • i 1 a 0 t 0 + b 0
  • i 1 represents the first control current of the motor
  • t 0 represents the first time
  • a 0 and b 0 are parameters that change the first control current i 1 with the first time t 0 , respectively.
  • a 0 is greater than zero
  • b 0 is greater than or equal to zero.
  • the method further includes: during the increase of the rotation speed of the motor, detecting whether the at least two blades of the folding propeller are all unfolded; If the at least two blades are not fully deployed, the absolute value of the first control current of the motor is adjusted according to the number of remaining unexpanded blades; if it is detected that all of the at least two blades are deployed, it stops moving toward all The motor sends the driving signal.
  • the method further includes: The second control current of the motor:
  • i 2 represents the second control current of the motor
  • I b represents a maximum value of i 1 within the first time t 0 .
  • the take-off speed of the drone specifically includes: determining the third control current of the motor according to the following formula:
  • i 3 a 1 t 2 + b 1
  • i 3 represents the third control current of the motor
  • t 2 represents a third time
  • a 1 and b 1 are parameters that change the third control current i 3 with the third time t 2 , respectively.
  • a 1 is less than zero.
  • driving the motor to decelerate and further includes: a process of reducing the rotation speed of the motor Detecting whether the at least two blades of the folding propeller are all deployed; if it is detected that the at least two blades are not fully deployed, adjusting the third control of the motor according to the number of remaining unexpanded blades The magnitude of the absolute value of the current; if it is detected that the at least two blades are all deployed, stopping sending the driving signal to the motor.
  • the detecting whether the at least two blades of the folding propeller are all unfolded specifically includes: monitoring the opening degree of each blade of the folding propeller during the acceleration or deceleration of the motor; and judging the Whether the opening degree of each blade of the folding propeller is within a preset opening range; if the opening degree of each blade of the folding propeller is within a preset opening range, determining that all the blades of the folding propeller are deployed Otherwise, it is determined that the blades of the folding propeller are not fully deployed.
  • the lower limit of the preset opening range is greater than or equal to 70% of the maximum opening of the folded propeller blade.
  • a second aspect of the present invention provides a folding propeller control device applied to a motor of an unmanned aerial vehicle.
  • An output shaft of the motor is connected to the folding propeller, and the folding propeller includes a paddle clamp and is foldably connected to the propeller.
  • the device includes: a sending module for sending a control to the motor when the at least two blades of the folding propeller are not deployed before the drone takes off.
  • a driving signal for the folding propeller to expand is used to drive the motor to accelerate; a driving module is used to monitor and obtain that the rotation speed of the motor reaches the maximum spin speed and the folding propeller is in an unexpanded working state When the motor is driven to decelerate; the maximum rotation speed of the propeller is lower than the take-off speed of the drone; an execution module for repeatedly performing the process of driving the motor to accelerate and the motor to decelerate until The working state until all the at least two blades of the folding propeller are deployed is monitored.
  • it further comprises: controlling the motor to start from a stand-by state; wherein the controller sends a driving signal to the motor to control the unfolding of the folding propeller, and the driving signal is used to drive the motor to accelerate
  • the method includes: driving the motor to accelerate from an initial rotation speed according to a first control current.
  • driving the motor to accelerate from the initial speed according to the first control current includes: determining the first control current of the motor according to the following formula:
  • i 1 a 0 t 0 + b 0
  • i 1 represents the first control current of the motor
  • t 0 represents the first time
  • a 0 and b 0 are parameters that change the first control current i 1 with the first time t 0 , respectively.
  • a 0 is greater than zero
  • b 0 is greater than or equal to zero.
  • the device further comprises: a detection module for detecting whether the at least two blades of the folding propeller are all unfolded during an increase in the rotation speed of the motor; and an adjustment module for detecting if If the at least two blades are not fully deployed, the absolute value of the first control current of the motor is adjusted according to the number of remaining unexpanded blades; a stop module is configured to detect if all of the at least two blades are detected When it is unfolded, it stops sending the driving signal to the motor.
  • the method further includes: Determining a second control current of the motor:
  • i 2 represents the second control current of the motor
  • I b represents a maximum value of i 1 within the first time t 0 .
  • the driving module is specifically configured to determine the third control current of the motor according to the following formula:
  • i 3 a 1 t 2 + b 1
  • i 3 represents the third control current of the motor
  • t 2 represents a third time
  • a 1 and b 1 are parameters that change the third control current i 3 with the third time t 2 , respectively.
  • a 1 is less than zero.
  • the detection module is further configured to detect whether the at least two blades of the folding propeller are all unfolded during a reduction in the rotation speed of the motor; the adjustment module is further configured to detect if all If the at least two blades are not fully deployed, the absolute value of the third control current of the motor is adjusted according to the number of remaining unexpanded blades; the stopping module is further configured to stop if all the blades are detected to be deployed Sending the driving signal to the motor.
  • the detecting whether the at least two blades of the folding propeller are all unfolded specifically includes: monitoring the opening degree of each blade of the folding propeller during the acceleration or deceleration of the motor; and judging the Whether the opening degree of each blade of the folding propeller is within a preset opening range; if the opening degree of each blade of the folding propeller is within a preset opening range, determining that all the blades of the folding propeller are deployed Otherwise, it is determined that the blades of the folding propeller are not fully deployed.
  • the lower limit of the preset opening range is greater than or equal to 70% of the maximum opening of the folded propeller blade.
  • a third aspect of the present invention provides an unmanned aerial vehicle, including: a fuselage; an arm connected to the fuselage; a motor mounted on the arm; a folding propeller connected to an output shaft of the motor
  • the folding propeller includes a paddle clamp and at least two blades foldably connected to the paddle clamp; a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to The method according to the first aspect of the present invention and any of its alternatives is executed by the processor to control the folding propeller.
  • a fourth aspect of the present invention provides an electronic device-readable storage medium including a program that, when run on an electronic device, causes the electronic device to perform the method described in the first aspect of the present invention and any of its optional solutions.
  • the controller before the drone takes off, when the blades of the folding propeller are not deployed, the controller sends a driving signal to the motor to control the deployment of the folding propeller.
  • the driving signal is used to drive the motor to accelerate; monitor the speed of the motor and the unfolding condition of the folding propeller in real time, and control the motor to decelerate when the rotating speed of the motor reaches the maximum rotating speed and the folding propeller is still not deployed to avoid unmanned
  • the aircraft took off without unfolding the folding propeller and caused a rollover, and then repeatedly performed the process of controlling the motor to accelerate and decelerate until the unmanned aircraft's folding propeller was deployed.
  • the folding propeller is automatically unfolded before the drone takes off, which not only simplifies human operation, but also avoids the rollover phenomenon caused by the unexpanded blade of the folding propeller.
  • FIG. 1 is an application scenario diagram of a folding propeller control method according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a folding propeller control method according to an exemplary embodiment of the present invention
  • FIG. 3 is a schematic diagram of a change in a control current of a motor in the embodiment shown in FIG. 2;
  • FIG. 4 is a structural diagram of a folding propeller control device according to an exemplary embodiment of the present invention.
  • Fig. 5 is a structural diagram of a drone according to an exemplary embodiment of the present invention.
  • connection should be understood in a broad sense, unless explicitly stated and limited otherwise.
  • they may be fixed connections or removable.
  • Connection, or integral connection it can be mechanical or electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements.
  • connection or integral connection; it can be mechanical or electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements.
  • FIG. 1 is an application scenario diagram of a folding propeller control method according to an embodiment of the present invention.
  • the propeller control method provided by the embodiment of the present invention can be applied to a motor of a drone.
  • the folding propeller of the drone can be automatically deployed before take-off, thereby avoiding unfolded Risk of rollover due to direct takeoff of the drone in the case of a propeller.
  • the structure of the drone 500 includes a fuselage 400, four arms 300 extending from the fuselage 400, and power components mounted on each of the arms 300 respectively.
  • the drone 500 may also include a pan / tilt (not shown), which is mounted on the bottom of the fuselage 400.
  • the pan / tilt can be equipped with a high-definition digital camera or other equipment to meet the specific needs of users.
  • the arm 300 is fixedly connected to the body 400.
  • the arm 300 and the body 400 are integrally formed.
  • the arm 300 may also be connected to the fuselage 400 in a manner of being unfolded or folded relative to the fuselage 400.
  • the arm 300 may be connected to the body 400 through a rotating shaft mechanism, so that the arm 300 can be unfolded or folded relative to the body 400.
  • the power component is used to power the drone 500.
  • the power assembly includes a motor 100 and a propeller 200 mounted on the motor 100, and each propeller 200 is driven by a motor 100 corresponding to the propeller 200 to rotate to generate a lift force for the drone 500 to fly. Or thrust.
  • Each of the propellers includes a paddle clip and at least two blades foldably connected to the paddle clip.
  • the power assembly may further include an electronic governor (not shown) provided inside the arm 300 or the fuselage 400. The electronic governor is used to generate and control an accelerator according to an accelerator signal generated by an accelerator controller or an accelerator generator. A motor control signal of the motor speed to obtain a flying speed or a flying attitude required by the drone 500.
  • the throttle controller or the throttle generator may be a flight control module of the drone 500.
  • the flight control module senses the environment around the drone 500 through various sensors, and controls the flight of the drone 500.
  • the flight control module may be a processing module (Application Unit), an Application Specific Integrated Circuit (ASIC), or a Field Programmable Gate Array (FPGA).
  • the flight control module of the drone 500 sends a throttle signal to the electric control board, and the electric control board receives the throttle signal, generates and sends the signal to the motor.
  • Motor control signals for starting the motor and controlling the rotation speed of the motor.
  • the airframe 400 includes a control circuit assembly composed of electronic components such as a MCU.
  • the control circuit assembly includes a plurality of control modules, for example, a control circuit for controlling the operation of the power module to control the flying attitude of the drone 500.
  • a flight control module which is used to navigate the positioning module of the drone 500
  • a data processing module which is used to process the environmental information acquired by the relevant airborne equipment.
  • FIG. 2 a schematic flowchart of a folding propeller control method according to this embodiment is shown. The method can be applied to the motor 100 of the drone shown in FIG. 1.
  • the method includes:
  • Step S101 Before the drone takes off, when the at least two blades of the folding propeller are not deployed, the controller sends a drive signal to the motor to control the deployment of the folded propeller, and the drive signal is used to drive the motor to accelerate.
  • the controller can be integrated inside the drone, or it can be a peripheral controller.
  • the driving signals can be preset according to the characteristics of the drone.
  • a folding propeller is installed on the motor.
  • the drone is turned on and enters the standby speed logic (that is, the logic state where the motor runs stably at a fixed speed)
  • the controller sends a drive signal to the motor, and the motor itself sets it according to the drive signal so that The motor drives the folding propeller to start the automatic propeller throwing process.
  • the driving signal is used to first drive the motor to accelerate. In the process of the motor driving the folding propeller to rotate, the larger the rotational speed, the easier it is to shake off the blade of the folding propeller.
  • the motor sends acceleration control parameters to accelerate the motor, which in turn drives the folding propeller to accelerate and perform the pitching process. Simplified manual operations and improved user experience.
  • the controller is an electronic governor that is electrically and mechanically connected.
  • Step S102 When it is monitored that the rotation speed of the motor reaches the maximum rotation speed of the propeller and the folding propeller is in an unexpanded working state, the driving motor is decelerated and the rotation speed of the rotation motor is smaller than the take-off rotation speed of the drone.
  • Step S103 The process of accelerating the driving motor and decelerating the driving motor is repeatedly performed until the working state in which the folding propeller is fully deployed is monitored.
  • the process proceeds to the next propeller control process, that is, the drive motor is repeatedly accelerated.
  • the drive signal of the motor can be controlled by controlling the current or voltage of the motor.
  • Fig. 3 uses current control as an example to show the schematic diagram of the change in the control current i of the motor with time t in the process of throwing the propeller.
  • State n indicates the state of the motor's control current during the nth acceleration / deceleration spin
  • Tn represents the total time it takes for the motor that drives the folding propeller to start from the start time to the completion of "state n.”
  • the motor can perform multiple acceleration and deceleration processes to perform the paddle pitching, that is, within the time Tn, the current control of the motor can be performed according to multiple control states from state 1 to state n until the Fold the propellers all out.
  • the characteristics of the folding propeller can be comprehensively considered to determine the driving signal.
  • the method further includes: controlling the motor to start from a standby state; wherein the controller sends a driving signal to the motor to control the unfolding of the folded propeller, the driving signal for driving the motor to accelerate operation includes: The speed starts to accelerate.
  • the drone can control the motor to run at a certain speed from the start-up to the take-off, and this state is called the standby state.
  • this state is called the standby state.
  • the folding propeller may not be deployed.
  • the motor that drives the folding propeller can be started in the standby state to start the spinning process.
  • the motor driving the folding propeller can be run at a low speed for a period of time, that is, an initial speed greater than zero is set for the motor, and when the motor has the initial speed (that is, in the standby state) ), And then according to the first control current, the driving motor starts to accelerate from the initial rotation speed, and the folding propeller is driven to perform the throwing process to ensure the stability of the motor operation, prevent abnormal control systems, and increase the reliability of the drone.
  • the state n corresponding to each pitching process.
  • the control current of the motor is increased from a certain initial current value.
  • the motor has an initial speed greater than zero.
  • the first control current of the motor can be determined according to the following formula according to the following formula:
  • i 1 a 0 t 0 + b 0
  • i 1 represents the first control current of the motor
  • t 0 represents the first time
  • a 0 and b 0 are parameters of the first control current i 1 changing with the first time t 0
  • a 0 is greater than zero
  • b 0 Greater than or equal to zero.
  • the drone process of the drone can start from the initial state, that is, immediately after the folding propeller is installed with the motor, the motor starts the spin process from the stationary state, and the initial speed can be Equal to zero, that is, the spin-off process starts to accelerate from the initial speed of the motor is zero.
  • the initial state that is, immediately after the folding propeller is installed with the motor
  • the motor starts the spin process from the stationary state
  • the initial speed can be Equal to zero, that is, the spin-off process starts to accelerate from the initial speed of the motor is zero.
  • the method further includes: during the increase of the rotation speed of the motor, detecting whether the at least two blades of the folding propeller are all deployed; if it is detected that the at least two blades are not If it is fully deployed, the absolute value of the first control current of the motor is adjusted according to the number of remaining unexpanded blades; if it is detected that the at least two blades are fully deployed, the driving signal is stopped from being sent to the motor.
  • the blades of folding propellers used in drones can be two or more.
  • the clamping degree of each blade may be different, and the speed of the motor reaches the maximum.
  • some of the blades may be deployed, but not all the blades are deployed. For example, for a folding propeller with three blades, one of the blades has been deployed, but there are two remaining It is not deployed, in which case the paddle process still needs to be continued.
  • the number of unfolded blades of the folded propeller can be detected in real time, and the absolute value of the first control current sent to the motor can be adaptively adjusted according to the number of remaining unexpanded blades, so as to control the operating state of the adaptively controlled motor.
  • the degree of clamping of the blades of the drone's folding propellers is different. Some of the blades with a smaller degree of clamping may be fully unfolded as the speed of the motor increases. At this time, the blades can be stopped in a timely manner. Send a drive signal to the motor, that is, stop the process of throwing the blades to reduce energy consumption and improve the efficiency of the blades.
  • the method further includes: determining the second control current of the motor according to the following formula:
  • i 2 represents the second control current of the motor
  • I b represents the maximum value of i 1 within the first time t 0 .
  • the motor in the process of propelling the motor during acceleration, if the motor speed reaches the maximum propeller speed and the folding propeller has not been deployed, the motor can be maintained at the maximum propeller speed for a preset period of time. Not only can speed up the pitching speed, but also can promote the stable operation of the motor, prevent abnormalities in the control system, and enhance the reliability of the drone.
  • the driving motor is decelerated; the maximum rotation speed of the rotation rotor is smaller than the take-off rotation speed of the drone, which specifically includes the following:
  • the formula determines the third control current of the motor:
  • i 3 a 1 t 2 + b 1
  • i 3 represents the third control current of the motor
  • t 2 represents the third time
  • a 1 and b 1 are parameters of the third control current i 3 changing with the third time t 2
  • a 1 is less than zero.
  • acceleration control parameters can be set according to the following expressions:
  • I a , I b , I c , I d represent the control current value of the motor corresponding to the time points a, b, c, and d, respectively, the first time the motor accelerates, the second time to maintain the maximum spin speed and the deceleration
  • the third time can be set as needed to avoid too long and affecting the user experience.
  • the deceleration operation of the driving motor further includes: during the process of reducing the rotation speed of the motor, detecting the folding propeller. Whether at least two blades are fully deployed; if it is detected that the at least two blades are not fully deployed, adjust the absolute value of the third control current of the motor according to the number of remaining unexpanded blades; if the at least two are detected When all the blades are unfolded, it stops sending driving signals to the motor.
  • the blades of folding propellers used in drones can be two or more.
  • the clamping degree of each blade may be different, and the speed of the motor decreases.
  • the number of unfolded blades of the folded propeller can be detected and detected in real time, and the absolute value of the third control current to the motor can be adaptively adjusted according to the number of remaining unexpanded blades, so as to control the operating state of the adaptively controlled motor.
  • detecting whether the at least two blades of the folding propeller are fully deployed specifically includes: monitoring the opening degree of each blade of the folding propeller during the acceleration or deceleration of the motor; and judging whether the opening degree of each blade of the folding propeller is Both are within the preset opening range; if the opening of each blade of the folding propeller is within the preset opening range, it is determined that the at least two blades of the folding propeller are all expanded, otherwise, the folding propeller is determined Not at least two leaves are unfolded.
  • whether the at least two blades of the folding propeller are unfolded can be achieved by monitoring the opening degree of each blade in real time.
  • a preset opening degree range can be generated based on actual use conditions.
  • the opening degree of each blade of the folding propeller is monitored. If the opening degree of each blade of the folding propeller is within a preset opening range, it is determined that the at least two blades of the folding propeller are all deployed, Otherwise, the at least two blades of the folding propeller are not all deployed, so that it can be easily judged whether the folding propeller is spread.
  • the lower limit of the preset opening range is greater than or equal to 70% of the maximum opening of the folded propeller blade. According to practical application experience and experimental data, it is proved that when the blade of the folding propeller reaches 70% or 80% of the maximum opening degree, the drone basically does not roll over because the blade is not opened. Therefore, the preset opening can be
  • the lower limit of the degree range is set to be greater than or equal to 70% of the maximum opening of the folded propeller blade. In this way, it is not necessary to expand the blade opening to the maximum, and it can also ensure the stability of the drone and improve energy efficiency. .
  • the controller before the drone takes off, when the blades of the folding propeller are not deployed, the controller sends a driving signal to the motor to control the deployment of the folding propeller, and the driving signal is used to drive the motor to accelerate operation; real-time monitoring The speed of the motor and the unfolding condition of the folding propeller, and when the speed of the motor reaches the maximum spin speed and the folding propeller has not been deployed, the motor is controlled to reduce the speed to avoid the drone taking off without the folded propeller causing a rollover Then, the process of controlling the motor to accelerate and decelerate is repeatedly performed until the folding propeller of the drone is unfolded. In this way, the folding propeller is automatically unfolded before the drone takes off, which not only simplifies human operation, but also avoids the rollover phenomenon caused by the unexpanded blade of the folding propeller.
  • This embodiment provides a folding propeller control device that is applied to a motor of a drone.
  • the output shaft of the motor is connected to the folding propeller.
  • FIG. 4 it is a structural diagram of a folding propeller control device according to this embodiment.
  • the device includes : Sending module 301, driving module 302, execution module 303, etc., among them,
  • a sending module 301 is configured to send a driving signal for controlling the unfolding of the folding propeller to the motor when the at least two blades of the folding propeller are not deployed before the drone takes off, and the driving signal is used to drive the motor to accelerate operation;
  • a driving module 302 configured to drive the motor to decelerate when the rotation speed of the motor reaches the maximum rotation speed of the motor and the folding propeller is in an unexpanded working state; wherein the maximum rotation speed of the rotation motor is less than the take-off speed of the drone;
  • the execution module 303 is configured to repeatedly execute the process of accelerating the driving motor and decelerating the driving motor until the working state of the fully-folded propeller is monitored.
  • the method further includes: controlling the motor to start from a standby state; wherein the controller sends a driving signal to the motor to control the unfolding of the folded propeller, the driving signal for driving the motor to accelerate operation includes: The speed starts to accelerate.
  • driving the motor to accelerate from the initial speed according to the first control current includes: determining the first control current of the motor according to the following formula:
  • i 1 a 0 t 0 + b 0
  • i 1 represents the first control current of the motor
  • t 0 represents the first time
  • a 0 and b 0 are parameters of the first control current i 1 changing with the first time t 0
  • a 0 is greater than zero
  • b 0 Greater than or equal to zero.
  • the device further includes: a detection module 304 for detecting whether the at least two blades of the folding propeller are all unfolded during the increase of the rotation speed of the motor; and an adjustment module 305 for detecting if the at least two blades are detected If all the blades are not deployed, the absolute value of the first control current of the motor is adjusted according to the number of remaining unexpanded blades; a stop module 306 is configured to stop sending to the motor if it detects that the at least two blades are fully deployed Driving signal.
  • the method further includes: determining the second control current of the motor according to the following formula:
  • i 2 represents the second control current of the motor
  • I b represents the maximum value of i 1 within the first time t 0 .
  • the driving module 302 is specifically configured to determine the third control current of the motor according to the following formula:
  • i 3 a 1 t 2 + b 1
  • i 3 represents the third control current of the motor
  • t 2 represents the third time
  • a 1 and b 1 are parameters of the third control current i 3 changing with the third time t 2
  • a 1 is less than zero.
  • the detection module 304 is further configured to detect whether the at least two blades of the folding propeller are all deployed during the reduction of the rotation speed of the motor; the adjustment module 305 is further configured to detect if the at least two blades are not If it is fully deployed, the absolute value of the third control current of the motor is adjusted according to the number of remaining unexpanded blades; the stopping module 306 is further configured to stop sending a driving signal to the motor if it is detected that the at least two blades are fully deployed.
  • detecting whether the at least two blades of the folding propeller are fully deployed specifically includes: monitoring the opening degree of each blade of the folding propeller during the acceleration or deceleration of the motor; and judging whether the opening degree of each blade of the folding propeller is Both are within the preset opening range; if the opening of each blade of the folding propeller is within the preset opening range, it is determined that the at least two blades of the folding propeller are all expanded, otherwise, the folding propeller is determined Not at least two leaves are unfolded.
  • the lower limit of the preset opening range is greater than or equal to 70% of the maximum opening of the folded propeller blade.
  • the folding propeller control device passes a driving signal for controlling the unfolding of the folding propeller to the motor when the blades of the folding propeller are not deployed before the drone takes off.
  • the driving signal is used to drive the motor to accelerate operation; real-time monitoring The speed of the motor and the unfolding condition of the folding propeller, and when the speed of the motor reaches the maximum spin speed and the folding propeller has not been deployed, the motor is controlled to reduce the speed to avoid the drone taking off without the folded propeller causing a rollover Then, the process of controlling the motor to accelerate and decelerate is repeatedly performed until the folding propeller of the drone is unfolded. In this way, the folding propeller is automatically unfolded before the drone takes off, which not only simplifies human operation, but also avoids the rollover phenomenon caused by the unexpanded blade of the folding propeller.
  • This embodiment provides a drone, as shown in FIG. 5, including: at least one processor 41, a memory 42, and a folding propeller 43.
  • a processor is taken as an example, the processor 41, the memory 42, and the folding propeller 43 is connected through the bus 40, and the memory 42 stores instructions that can be executed by the at least one processor 41, and the instructions are executed by the at least one processor 41, so that the at least one processor 41 executes the folding as shown in FIGS. 2 and 3 in Embodiment 1.
  • the controller sends a driving signal to the motor to control the deployment of the folding propeller.
  • the driving signal is used to drive the motor to accelerate operation; the motor is monitored in real time Speed of the propeller and the unfolding condition of the folding propeller, and when the motor speed reaches the maximum propeller speed and the folding propeller has not been deployed, control the motor to reduce speed to avoid the drone taking off without unfolding the folding propeller, causing a rollover, Thereafter, the process of controlling the motor to accelerate and decelerate is repeatedly performed until the folding propeller of the drone is unfolded. In this way, the folding propeller is automatically unfolded before the drone takes off, which not only simplifies human operation, but also avoids the rollover phenomenon caused by the unexpanded blade of the folding propeller.
  • An embodiment of the present invention further provides an electronic device-readable storage medium, including: a program that, when running on the electronic device, causes the electronic device to execute all or part of a process of the method in the foregoing embodiment.
  • the storage medium may be a magnetic disk, a compact disc, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash), and a hard disk (Hard disk drive). , Abbreviation: HDD) or Solid-State Drive (SSD), etc .; the storage medium may also include a combination of the above types of memory.

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Abstract

一种折叠螺旋桨控制方法、装置和设备，所述方法包括：无人机(500)起飞前，在所述折叠螺旋桨(200)的至少两个叶片未展开时，控制器向电机(100)发送控制折叠螺旋桨(200)展开的驱动信号，所述驱动信号用于驱动电机(100)加速运转；在监控得到所述电机(100)的转速达到最大甩桨转速且所述折叠螺旋桨(200)处在未展开的工作状态时，驱动所述电机(100)减速运转；其中所述最大甩桨转速小于所述无人机(500)的起飞转速；重复执行驱动所述电机(100)加速运转和驱动所述电机(100)减速运转的过程，直到监控得到所述折叠螺旋桨(200)的至少两个叶片全部展开的工作状态为止。通过在无人机(500)起飞前对电机(100)进行控制，实现在起飞前自动展开折叠螺旋桨(200)，避免了在未展开螺旋桨(200)的情况下无人机(500)直接起飞带来的侧翻风险。

Description

折叠螺旋桨控制方法、装置和设备
本申请要求于2018年6月21日提交中国专利局、申请号为2018106450791、申请名称为“折叠螺旋桨控制方法、装置和设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及无人机控制技术领域，尤其涉及一种折叠螺旋桨控制方法、装置和设备。
背景技术
随着科技水平以及人们生活水平的提高，人们对于无人机的各方面性能要求越来越高，无人机小型化是目前民用无人机发展的一大趋势。适应无人机小型化的发展，用于无人机的折叠螺旋桨应运而生，比如，折叠无人机一般配备折叠螺旋桨。
折叠螺旋桨一般包括叶片和桨夹，桨夹用于固定叶片，叶片可以随意折叠和打开，以节省无人机的占用空间。但是，现有的折叠螺旋桨，由于生产工艺等问题，生产出来的叶片与桨夹之间的阻尼不尽相同。有的会比较松而有的比较紧。在将折叠螺旋桨安装到无人机的电机上后，往往需要用户手动打开被折叠的叶片，才能进行起飞流程，否则，在用户忘记打开螺旋桨或螺旋桨没有被打开成完全展开的状态的情况下，若直接控制无人机进行飞行，在飞行过程中很容易发生无人机的侧翻。这种现象不仅增加了无人机因侧翻损坏的风险，而且影响用户的操作体验。
因此，亟需一种可以有效对折叠螺旋桨的展开进行操控的方法，以保证 无人机起飞的可靠性。
发明内容
本发明提供一种折叠螺旋桨控制方法、装置和设备，通过在无人机起飞前对驱动折叠螺旋桨旋转的电机进行控制，可以实现在起飞前自动展开折叠螺旋桨，简化了人工操作，避免了在未展开螺旋桨的情况下无人机直接起飞带来的侧翻的风险。
本发明的第一方面提供一种折叠螺旋桨控制方法，应用于无人机的电机，所述电机的输出轴与所述折叠螺旋桨相连，所述折叠螺旋桨包括桨夹和可折叠地连接至所述桨夹连的至少两个叶片，所述方法包括：无人机起飞前，在所述折叠螺旋桨的所述至少两个叶片未展开时，控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转；在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转；其中所述最大甩桨转速小于所述无人机的起飞转速；重复执行驱动所述电机加速运转和驱动所述电机减速运转的过程，直到监控得到所述折叠螺旋桨全部展开的工作状态为止。
可选地，所述方法还包括：控制所述电机从待速状态起动；其中，所述控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转包括：按照第一控制电流，驱动所述电机从初始转速开始加速运转。
可选地，所述按照第一控制电流，驱动所述电机从初始转速开始加速运转包括：按照如下公式确定所述电机的所述第一控制电流：
i 1＝a 0t 0+b 0
其中，i 1表示所述电机的所述第一控制电流，t 0表示第一时间，a 0、b 0分别为所述第一控制电流i 1随着所述第一时间t 0变化的参数，a 0大于零，b 0大于或等于零。
可选地，在所述电机的转速达到最大甩桨转速之前还包括：在所述电机的转速增加的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第一控制电流的绝对值大小；若检测到所述至少两个叶片全部展开，则停止向所述电机发送所述驱动信号。
可选地，在所述在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转之前，还包括：按照如下公式确定所述电机的第二控制电流：
i 2＝I b
其中，i 2表示所述电机的所述第二控制电流，I b表示i 1在所述第一时间t 0内的最大值。
可选地，所述在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转；其中所述最大甩桨转速小于所述无人机的起飞转速，具体包括：按照如下公式确定所述电机的第三控制电流：
i 3＝a 1t 2+b 1
其中，i 3表示所述电机的所述第三控制电流，t 2表示第三时间，a 1、b 1分别为所述第三控制电流i 3随着所述第三时间t 2变化的参数，a 1小于零。
可选地，在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋 桨处在未展开的工作状态时，驱动所述电机减速运转还包括：在所述电机的转速减小的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第三控制电流的绝对值大小；若检测到所述至少两个叶片全部展开，则停止向所述电机发送所述驱动信号。
可选地，所述检测所述折叠螺旋桨的所述至少两个叶片是否全部展开具体包括：在所述电机加速或减速过程中，监测所述折叠螺旋桨的每片叶片的开度；判断所述折叠螺旋桨的每片叶片的开度是否均在预设开度范围内；若所述折叠螺旋桨的每片叶片的开度均在预设开度范围内，则确定所述折叠螺旋桨的叶片全部展开，否则，确定所述折叠螺旋桨的叶片未全部展开。
可选地，所述预设开度范围的下限值大于或等于所述折叠螺旋桨叶片的最大开度的70％。
本发明的第二方面提供一种折叠螺旋桨控制装置，应用于无人机的电机，所述电机的输出轴与所述折叠螺旋桨相连，所述折叠螺旋桨包括桨夹和可折叠地连接至所述桨夹的至少两个叶片，所述装置包括：发送模块，用于无人机起飞前，在所述折叠螺旋桨的所述至少两个叶片未展开时，控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转；驱动模块，用于在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转；其中所述最大甩桨转速小于所述无人机的起飞转速；执行模块，用于重复执行驱动所述电机加速运转和驱动所述电机减速运转的过程，直到监控得到所述折叠螺旋桨的所述至少两个叶片全部展开的工作状态为止。
可选地，还包括：控制所述电机从待速状态起动；其中，所述控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转包括：按照第一控制电流，驱动所述电机从初始转速开始加速运转。
可选地，所述按照第一控制电流，驱动所述电机从初始转速开始加速运转包括：按照如下公式确定所述电机的所述第一控制电流：
i 1＝a 0t 0+b 0
其中，i 1表示所述电机的所述第一控制电流，t 0表示第一时间，a 0、b 0分别为所述第一控制电流i 1随着所述第一时间t 0变化的参数，a 0大于零，b 0大于或等于零。
可选地，所述装置还包括：检测模块，用于在所述电机的转速增加的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；调整模块，用于若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第一控制电流的绝对值大小；停止模块，用于若检测到所述至少两个叶片全部展开，则停止向所述电机发送所述驱动信号。
可选地，在所述在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转的步骤之前，还包括：按照如下公式确定所述电机的第二控制电流：
i 2＝I b
其中，i 2表示所述电机的所述第二控制电流，I b表示i 1在所述第一时间t 0内的最大值。
可选地，所述驱动模块具体用于：按照如下公式确定所述电机的第三控 制电流：
i 3＝a 1t 2+b 1
其中，i 3表示所述电机的所述第三控制电流，t 2表示第三时间，a 1、b 1分别为所述第三控制电流i 3随着所述第三时间t 2变化的参数，a 1小于零。
可选地，所述检测模块还用于在所述电机的转速减小的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；所述调整模块还用于若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第三控制电流的绝对值大小；所述停止模块还用于若检测到叶片全部展开，则停止向所述电机发送所述驱动信号。
可选地，所述检测所述折叠螺旋桨的所述至少两个叶片是否全部展开具体包括：在所述电机加速或减速过程中，监测所述折叠螺旋桨的每片叶片的开度；判断所述折叠螺旋桨的每片叶片的开度是否均在预设开度范围内；若所述折叠螺旋桨的每片叶片的开度均在预设开度范围内，则确定所述折叠螺旋桨的叶片全部展开，否则，确定所述折叠螺旋桨的叶片未全部展开。
可选地，所述预设开度范围的下限值大于或等于所述折叠螺旋桨叶片的最大开度的70％。
本发明的第三方面提供一种无人机，包括：机身；与所述机身相连的机臂；安装在所述机臂上的电机；折叠螺旋桨，其与所述电机的输出轴相连，所述折叠螺旋桨包括桨夹和可折叠地连接至所述桨夹的至少两个叶片；存储器；处理器；以及计算机程序；其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行本发明第一方面及其任一可选方案所述的方法，以对所述折叠螺旋桨进行控制。
本发明的第四方面提供一种电子设备可读存储介质，包括：程序，当其在电子设备上运行时，使得电子设备执行本发明第一方面及其任一可选方案所述的方法。
本发明提供的折叠螺旋桨控制方法、装置和设备，通过无人机起飞前，在所述折叠螺旋桨的桨叶未展开时，控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转；实时监控电机的转速和折叠螺旋桨的展开状况，并在电机转速达到最大甩桨转速且折叠螺旋桨仍未展开时，控制该电机减速，以避免无人机在未展开折叠螺旋桨的情况下起飞而造成侧翻，之后重复执行控制该电机加速后减速的过程，直至无人机的折叠螺旋桨展开。如此，实现了在无人机起飞前自动展开折叠螺旋桨，不仅简化了人为操作，而且避免了无人机因折叠螺旋桨的叶片未展开而造成的侧翻现象。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的折叠螺旋桨控制方法的应用场景图；
图2为本发明一示例性实施例示出的折叠螺旋桨控制方法的流程图；
图3为图2所示实施例中电机的控制电流变化的示意图；
图4为本发明一示例性实施例示出的折叠螺旋桨控制装置的结构图；
图5为本发明一示例性实施例示出的无人机的结构图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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，本领域技术人员在没有作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。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
此外，下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1，为本发明实施例提供的折叠螺旋桨控制方法的应用场景图。本发明实施例提供的螺旋桨控制方法，可应用于无人机的电机，通过在无人机起飞前对电机进行控制，实现在起飞前自动展开无人机的折叠螺旋桨，从 而避免了在未展开螺旋桨的情况下无人机直接起飞带来的侧翻的风险。如图1所示，该无人机500的结构包括机身400、四个自机身400延伸的机臂300以及分别装设在每个机臂300上的动力组件。无人机500还可以包括云台(图未示)，该云台安装于机身400的底部，云台可以搭载高清数码相机或其他设备以满足用户的特定的需求。在本发明的一实施例中，机臂300与机身400固定连接，优选地，机臂300与机身400一体成型。在其他可能的实施例中，机臂300还可以可相对于机身400展开或折叠的方式与机身400相连。例如，机臂300可以通过一转轴机构与机身400相连，以实现机臂300可相对于机身400展开或折叠。
所述动力组件用于为所述无人机500提供动力。在本发明的一实施例中，所述动力组件包括电机100和安装在电机100上的螺旋桨200，每一螺旋桨200在与其对应的电机100的驱动下旋转以产生使无人机500飞行的升力或推力。每个所述螺旋桨包括桨夹和可折叠地连接至所述桨夹的至少两个叶片。所述动力组件还可以包括设置在机臂300或机身400的内部的电子调速器(未图示)，电子调速器用于根据油门控制器或油门发生器产生的油门信号生成用于控制电机转速的电机控制信号以获取无人机500需要的飞行速度或飞行姿态。
在一种实现方式中，油门控制器或油门发生器可以是无人机500的飞行控制模块。飞行控制模块通过各种传感器感知无人机500周围的环境，并控制无人机500的飞行。飞行控制模块可以是处理模块(processing unit)，专用集成电路(Application Specific Integrated Circuit，ASIC)或者现场可编程门阵列(Field Programmable Gate Array，FPGA)。
当用户通过遥控器输入控制无人机500的飞行姿态等的指令时，无人机500的飞控模块向电调板发送一油门信号，电调板接收该油门信号，生成并向电机发送用于对电机进行启动、和控制电机运行的转速等的电机控制信号。
所述机身400内包括由MCU等电子元器件组成的控制电路组件，该控制电路组件包括多个控制模块，如，用于控制所述动力组件工作以控制所述无人机500飞行姿态的飞行控制模块，用于导航所述无人机500的定位模块，以及用于处理相关机载设备所获取的环境信息的数据处理模块等。为了便于说明本发明实施例，附图仅示出与本发明实施例相关的部件。如图2所示，为本实施例提供的一种折叠螺旋桨控制方法，的流程示意图，该方法可以应用于图1所示的无人机的电机100，该方法包括：
步骤S101：无人机起飞前，在折叠螺旋桨的所述至少两个叶片未展开时，控制器向电机发送控制折叠螺旋桨展开的驱动信号，驱动信号用于驱动电机加速运转。
此处，控制器可以集成在无人机的内部，也可以是外设控制器，驱动信号可以根据该无人机的特性预先设置，在无人机起飞前，比如，在电机上装上折叠螺旋桨(螺旋桨处于折叠状态)，无人机开机进入待速逻辑(即电机以某一固定的转速稳定运行的逻辑状态)，控制器向电机发送驱动信号，电机自身按照驱动信号进行设定,以使电机带动折叠螺旋桨开始自动甩桨过程，具体地，驱动信号用于先驱动电机加速运转，电机带动折叠螺旋桨转动的过程中，转速越大，越容易甩开折叠螺旋桨的叶片，因此，可以通过向电机发送加速控制参数，以使电机加速运转，进而带动折叠螺旋桨加速运转进行甩桨过程。简化了人工操作，提高了用户体验。在一些实现方式中，所述控制器为与电 机电连接的电子调速器。
步骤S102：在监控得到电机的转速达到最大甩桨转速且折叠螺旋桨处在未展开的工作状态时，驱动电机减速运转；其中最大甩桨转速小于无人机的起飞转速。
具体地，为了实现无人机的螺旋桨在叶片全部展开的状态下起飞，从而保证无人机的飞行安全，需要为电机设置最大甩桨转速，以保证无人机甩桨的同时不会起飞。因此，设置最大甩桨转速，且该最大甩桨转速要小于无人机的起飞转速，在电机加速甩桨的过程中，需要实时监控电机的转速和折叠螺旋桨的展开情况，如果在电机的转速达到最大甩桨转速时，折叠螺旋桨仍未展开，则需要驱动电机减速运转，防止无人机桨未全部展开而起飞，并且使得电机减速后进入下一个加速甩桨过程。
步骤S103：重复执行驱动电机加速运转和驱动电机减速运转的过程，直到监控得到折叠螺旋桨全部展开的工作状态为止。
具体地，如果在电机经过加速达到最大甩桨转速后并减速的控制过程，折叠螺旋桨仍未展开，为了保证起飞前能展开折叠螺旋桨，则进入下一个甩桨控制过程，即重复执行驱动电机加速运转和驱动电机减速运转的过程，以控制该电机加速带动折叠螺旋桨运转后再减速运转，直到展开折叠螺旋桨，则不再向电机发送驱动信号。如图3所示，可以通过控制电机的电流或电压来控制电机的驱动信号，图3以电流控制为例，示出了在甩桨过程中电机的控制电流i随时间t变化的示意图，状态1表示在第一个加减速甩桨过程中电机的控制电流变化状态，其中控制电流i随时间t先增加后减小。状态n表示在第n个加减速甩桨过程中电机的控制电流变化状态，Tn表示驱动折叠 螺旋桨的电机从启动时刻到完成“状态n”所用的总时间，若经过状态1后，折叠螺旋桨仍处在未全部展开状态，电机即可进行多个加减速过程来进行甩桨，即在时间Tn内，可按照从状态1到状态n的多个控制状态对该电机的进行电流控制，直至该折叠螺旋桨全部展开。在实际应用场景中，可以综合考虑折叠螺旋桨的特性来确定驱动信号，比如根据实际需要确定n的取值，若确定n＝2，即甩桨过程中电机需要2个加减速的过程才能完全展开折叠螺旋桨；这2个加减速过程中，电机在加速阶段和减速阶段的运行时间可以相同，也可以不同，设定的控制电流幅值同样可以相同也可以不同，最终的结果是能够在待速状态下有效打开折叠螺旋桨。如果该控制器设置在无人机内部，则整个甩桨过程可以不受外设控制设备(比如无人机的遥控器)指令的干扰。折叠螺旋桨展开后，电机可以保持当前转速运转，也可以根据需要进行无人机起飞阶段。
可选地，还包括：控制电机从待速状态起动；其中，控制器向电机发送控制折叠螺旋桨展开的驱动信号，驱动信号用于驱动电机加速运转包括：按照第一控制电流，驱动电机从初始转速开始加速运转。
在实际应用场景中，无人机从开机后至起飞前，可以控制电机以某一转速运行，此状态称之为待速状态。当无人机处于待速状态时，折叠螺旋桨可能未展开，此时便可以控制驱动折叠螺旋桨的电机以待速状态起动开始甩桨过程。具体地，在无人机开始甩桨之前，可以先让驱动折叠螺旋桨的电机低速运转一段时间，即为电机设置一个大于零的初始转速，在电机拥有初始转速的状态下(即待速状态下)，再按照第一控制电流，驱动电机从初始转速开始加速运转，带动折叠螺旋桨进行甩桨过程，以保证电机运行的稳定性，防 止控制系统异常，增加无人机的可靠性。比如，如图3所示，每一个甩桨过程对应的状态n。电机的控制电流均是从一定的初始电流值开始增加的，对应于每一个甩桨过程的开始，电机均拥有一个大于零的初始转速。可选地，按照第一控制电流，驱动电机从初始转速开始加速运转可以按照如下公式确定电机的第一控制电流：
i 1＝a 0t 0+b 0
其中，i 1表示电机的第一控制电流，t 0表示第一时间，a 0、b 0分别为第一控制电流i 1随着第一时间t 0变化的参数，a 0大于零，b 0大于或等于零。
需要说明的是，在具体的应用环境中，无人机甩桨过程可以从初始状态开始，即在折叠螺旋桨刚刚装上电机时，电机从静止状态开机就开始甩桨过程，此时初始转速可以等于零，即甩桨过程从电机的初始转速为零时开始加速运转，如此可以让无人机的电机从开机起即迅速进入甩桨过程，以便于快速进入起飞阶段，有利于应对需要紧急起飞的状况，增强了无人机的适应性能。
可选地，在电机的转速达到最大甩桨转速之前还包括：在电机的转速增加的过程中，检测折叠螺旋桨的所述至少两个叶片是否全部展开；若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整电机的第一控制电流的绝对值大小；若检测到所述至少两个叶片全部展开，则停止向电机发送驱动信号。
在实际应用中，应用于无人机的折叠螺旋桨的叶片可以是两片，也可以是多片，当是多片时，由于每一个叶片的夹紧程度可能不一样，在电机的转速达到最大甩桨转速之前，在电机加速甩桨的过程中，有可能一部分叶片已 经展开，而又不是所有的叶片均展开，比如对于拥有三片叶片的折叠螺旋桨，其中一片已展开，但是还剩余两片未展开，这种情况下，仍然需要继续甩桨过程。因此可以实时检测折叠螺旋桨的叶片的展开数量，并可以根据剩余未展开的叶片数量，适应性的调整向电机发送的第一控制电流的绝对值大小，以控制适应性的控制电机的运行状态，进而降低无人机的能耗，提高能源利用率。在实际应用场景中，无人机折叠螺旋桨的叶片夹紧程度不尽相同，一些夹紧程度较小的叶片，有可能在电机的转速增加过程中就已经全部展开，此时即可适时的停止向电机发送驱动信号，即停止甩桨过程，以降低能耗，提高甩桨效率。
可选地，在在监控得到电机的转速达到最大甩桨转速且折叠螺旋桨处在未展开的工作状态时，驱动电机减速运转之前，还包括：按照如下公式确定电机的第二控制电流：
i 2＝I b
其中，i 2表示电机的第二控制电流，I b表示i 1在第一时间t 0内的最大值。
具体地，如图3所示，在电机加速运转进行甩桨过程中，如果电机转速达到了最大甩桨转速，折叠螺旋桨仍未展开，则可以让电机维持最大甩桨转速运转预设时间段，不仅可以加快甩桨速度，而且可以促使电机稳定运行，防止控制系统出现异常，增强无人机的可靠性。
可选地，在监控得到电机的转速达到最大甩桨转速且折叠螺旋桨处在未展开的工作状态时，驱动电机减速运转；其中最大甩桨转速小于无人机的起飞转速，具体包括：按照如下公式确定电机的第三控制电流：
i 3＝a 1t 2+b 1
其中，i 3表示电机的第三控制电流，t 2表示第三时间，a 1、b 1分别为第三控制电流i 3随着第三时间t 2变化的参数，a 1小于零。
下面以图3中“状态1”为例，对本实施例中的折叠螺旋桨控制方法中驱动信号的设定进行详细说明：
在图3中，加速控制参数可以按照下列表达式进行设定：
Figure PCTCN2018113015-appb-000001
其中，系数之间的关系可以表示为：
Figure PCTCN2018113015-appb-000002
其中i表示电机的转速，a 0表示第二加速度，b 0表示第二初始转速，a 1表示第三加速度，b 1表示状态1的情况下电机在减速过程中达到的最小转速，I a、I b、I c、I d、分别表示时间点a、b、c、d各点时间对应的电机的控制电流值，电机加速的第一时间、维持最大甩桨转速运转的第二时间和减速的第三时间，可以根据需要设定，避免过长而影响用户体验。
可选地，在监控得到电机的转速达到最大甩桨转速且折叠螺旋桨处在未展开的工作状态时，驱动电机减速运转还包括：在电机的转速减小的过程中，检测折叠螺旋桨的所述至少两个叶片是否全部展开；若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整电机的第三控制电流的绝对值大小；若检测到所述至少两个叶片全部展开，则停止向电机发送驱动信号。
在实际应用中，应用于无人机的折叠螺旋桨的叶片可以是两片，也可以是多片，当是多片时，由于每一个叶片的夹紧程度可能不一样，在电机的转 速减小过程中，有可能一部分叶片已经展开，而又不是所有的叶片均展开，比如对于拥有三片叶片的折叠螺旋桨，其中一片已展开，但是还剩余两片未展开，这种情况下，仍然需要继续甩桨过程。因此可以实时检测检测折叠螺旋桨的叶片的展开数量，并可以根据剩余未展开的叶片数量，适应性的调整向电机的第三控制电流的绝对值，以控制适应性的控制电机的运行状态，进而降低无人机的能耗，提高能源利用率。对于一些夹紧程度较小的叶片，有可能在电机的转速增加过程中就已经全部展开，此时即可适时的停止向电机发送驱动信号，即停止甩桨过程，以降低能耗，提高甩桨效率。
可选地，检测折叠螺旋桨的所述至少两个叶片是否全部展开具体包括：在电机加速或减速过程中，监测折叠螺旋桨的每片叶片的开度；判断折叠螺旋桨的每片叶片的开度是否均在预设开度范围内；若折叠螺旋桨的每片叶片的开度均在预设开度范围内，则确定折叠螺旋桨的所述至少两个叶片全部展开，否则，确定折叠螺旋桨的所述至少两个叶片未全部展开。
在实际应用场景中，对于折叠螺旋桨的所述至少两个叶片是否展开，可以通过实时监控每片叶片的开度来实现，具体地，可以实际使用情况，生成一个预设开度范围，在电机加速或减速过程中，监测折叠螺旋桨的每片叶片的开度，若折叠螺旋桨的每片叶片的开度均在预设开度范围内，则确定折叠螺旋桨的所述至少两个叶片全部展开，否则，折叠螺旋桨的所述至少两个叶片未全部展开，如此即可简便判断于折叠螺旋桨是否展。
可选地，预设开度范围的下限值大于或等于折叠螺旋桨叶片的最大开度的70％。根据实际应用经验以及实验数据证明，折叠螺旋桨的叶片在开度达到最大开度的70％或80％时，无人机基本不会因为叶片未打开而发生侧翻，因此， 可以将预设开度范围的下限值设定为大于或等于折叠螺旋桨叶片的最大开度的70％，如此，无需真正将叶片开度展开至最大，也可以保证无人机的稳定性，提高了能源利用效率。
本实施例提供的折叠螺旋桨控制方法，通过无人机起飞前，在折叠螺旋桨的叶片未展开时，控制器向电机发送控制折叠螺旋桨展开的驱动信号，驱动信号用于驱动电机加速运转；实时监控电机的转速和折叠螺旋桨的展开状况，并在电机转速达到最大甩桨转速且折叠螺旋桨仍未展开时，控制该电机减速，以避免无人机在未展开折叠螺旋桨的情况下起飞而造成侧翻，之后重复执行控制该电机加速后减速的过程，直至无人机的折叠螺旋桨展开。如此，实现了在无人机起飞前自动展开折叠螺旋桨，不仅简化了人为操作，而且避免了无人机因折叠螺旋桨的叶片未展开而造成的侧翻现象。
本实施例提供一种折叠螺旋桨控制装置，应用于无人机的电机，电机的输出轴与折叠螺旋桨相连，如图4所示，为根据本实施例的折叠螺旋桨控制装置的结构图，装置包括：发送模块301、驱动模块302、执行模块303等，其中，
发送模块301，用于无人机起飞前，在折叠螺旋桨的所述至少两个叶片未展开时，控制器向电机发送控制折叠螺旋桨展开的驱动信号，驱动信号用于驱动电机加速运转；
驱动模块302，用于在监控得到电机的转速达到最大甩桨转速且折叠螺旋桨处在未展开的工作状态时，驱动电机减速运转；其中最大甩桨转速小于无人机的起飞转速；
执行模块303，用于重复执行驱动电机加速运转和驱动电机减速运转的过 程，直到监控得到折叠螺旋桨全部展开的工作状态为止。
可选地，还包括：控制电机从待速状态起动；其中，控制器向电机发送控制折叠螺旋桨展开的驱动信号，驱动信号用于驱动电机加速运转包括：按照第一控制电流，驱动电机从初始转速开始加速运转。
可选地，按照第一控制电流，驱动电机从初始转速开始加速运转包括：按照如下公式确定电机的第一控制电流：
i 1＝a 0t 0+b 0
其中，i 1表示电机的第一控制电流，t 0表示第一时间，a 0、b 0分别为第一控制电流i 1随着第一时间t 0变化的参数，a 0大于零，b 0大于或等于零。
可选地，装置还包括：检测模块304，用于在电机的转速增加的过程中，检测折叠螺旋桨的所述至少两个叶片是否全部展开；调整模块305，用于若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整电机的第一控制电流的绝对值大小；停止模块306，用于若检测到所述至少两个叶片全部展开，则停止向电机发送驱动信号。
可选地，在在监控得到电机的转速达到最大甩桨转速且折叠螺旋桨处在未展开的工作状态时，驱动电机减速运转之前，还包括：按照如下公式确定电机的第二控制电流：
i 2＝I b
其中，i 2表示电机的第二控制电流，I b表示i 1在第一时间t 0内的最大值。
可选地，驱动模块302具体用于：按照如下公式确定电机的第三控制电流：
i 3＝a 1t 2+b 1
其中，i 3表示电机的第三控制电流，t 2表示第三时间，a 1、b 1分别为第三控制电流i 3随着第三时间t 2变化的参数，a 1小于零。
可选地，检测模块304还用于在电机的转速减小的过程中，检测折叠螺旋桨的所述至少两个叶片是否全部展开；调整模块305还用于若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整电机的第三控制电流的绝对值大小；停止模块306还用于若检测到所述至少两个叶片全部展开，则停止向电机发送驱动信号。
可选地，检测折叠螺旋桨的所述至少两个叶片是否全部展开具体包括：在电机加速或减速过程中，监测折叠螺旋桨的每片叶片的开度；判断折叠螺旋桨的每片叶片的开度是否均在预设开度范围内；若折叠螺旋桨的每片叶片的开度均在预设开度范围内，则确定折叠螺旋桨的所述至少两个叶片全部展开，否则，确定折叠螺旋桨的所述至少两个叶片未全部展开。
可选地，预设开度范围的下限值大于或等于折叠螺旋桨叶片的最大开度的70％。
相关说明可以对应参见图2和图3的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
本实施例提供的折叠螺旋桨控制装置，通过无人机起飞前，在折叠螺旋桨的叶片未展开时，控制器向电机发送控制折叠螺旋桨展开的驱动信号，驱动信号用于驱动电机加速运转；实时监控电机的转速和折叠螺旋桨的展开状况，并在电机转速达到最大甩桨转速且折叠螺旋桨仍未展开时，控制该电机减速，以避免无人机在未展开折叠螺旋桨的情况下起飞而造成侧翻，之后重复执行控制该电机加速后减速的过程，直至无人机的折叠螺旋桨展开。如此， 实现了在无人机起飞前自动展开折叠螺旋桨，不仅简化了人为操作，而且避免了无人机因折叠螺旋桨的叶片未展开而造成的侧翻现象。
本实施例提供一种无人机，如图5所示，包括：至少一个处理器41、存储器42和折叠螺旋桨43，图5中以一个处理器为例，处理器41、存储器42和折叠螺旋桨43通过总线40连接，存储器42存储有可被至少一个处理器41执行的指令，指令被至少一个处理器41执行，以使至少一个处理器41执行如实施例1中图2和图3的折叠螺旋桨控制方法，以控制折叠螺旋43的甩浆。
相关说明可以对应参见图2和图3的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
本实施例提供的无人机，通过无人机起飞前，在折叠螺旋桨的叶片未展开时，控制器向电机发送控制折叠螺旋桨展开的驱动信号，驱动信号用于驱动电机加速运转；实时监控电机的转速和折叠螺旋桨的展开状况，并在电机转速达到最大甩桨转速且折叠螺旋桨仍未展开时，控制该电机减速，以避免无人机在未展开折叠螺旋桨的情况下起飞而造成侧翻，之后重复执行控制该电机加速后减速的过程，直至无人机的折叠螺旋桨展开。如此，实现了在无人机起飞前自动展开折叠螺旋桨，不仅简化了人为操作，而且避免了无人机因折叠螺旋桨的叶片未展开而造成的侧翻现象。
本发明实施例还提供了一种电子设备可读存储介质，包括：程序，当其在电子设备上运行时，使得电子设备可执行上述实施例中方法的全部或部分流程。其中，存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)、随机存储记忆体(Random Access Memory，RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive，缩写：HDD)或固态硬盘(Solid-State Drive， SSD)等；存储介质还可以包括上述种类的存储器的组合。
虽然结合附图描述了本发明的实施例，但是本领域技术人员可以在不脱离本发明的精神和范围的情况下作出各种修改和变型，这样的修改和变型均落入由所附权利要求所限定的范围之内。

Claims (20)

  1. 一种折叠螺旋桨控制方法，应用于无人机的电机，所述电机的输出轴与所述折叠螺旋桨相连，所述折叠螺旋桨包括桨夹和可折叠地连接至所述桨夹的至少两个叶片，其特征在于，所述方法包括：
    无人机起飞前，在所述折叠螺旋桨的所述至少两个叶片未展开时，控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转；
    在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转；其中所述最大甩桨转速小于所述无人机的起飞转速；
    重复执行驱动所述电机加速运转和驱动所述电机减速运转的过程，直到监控得到所述折叠螺旋桨的所述至少两个叶片全部展开的工作状态为止。
  2. 根据权利要求1所述的折叠螺旋桨控制方法，其特征在于，还包括：控制所述电机从待速状态起动；其中，所述控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转包括：
    按照第一控制电流，驱动所述电机从初始转速开始加速运转。
  3. 根据权利要求2所述的折叠螺旋桨控制方法，其特征在于，所述按照第一控制电流，驱动所述电机从初始转速开始加速运转包括：
    按照如下公式确定所述电机的所述第一控制电流：
    i 1＝a 0t 0+b 0
    其中，i 1表示所述电机的所述第一控制电流，t 0表示第一时间，a 0、b 0分 别为所述第一控制电流i 1随着所述第一时间t 0变化的参数，a 0大于零，b 0大于或等于零。
  4. 根据权利要求3所述的折叠螺旋桨控制方法，其特征在于，在所述电机的转速达到最大甩桨转速之前还包括：
    在所述电机的转速增加的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；
    若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第一控制电流的绝对值大小；
    若检测到所述至少两个叶片全部展开，则停止向所述电机发送所述驱动信号。
  5. 根据权利要求3或4所述的折叠螺旋桨控制方法，其特征在于，在所述在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转之前，还包括：
    按照如下公式确定所述电机的第二控制电流：
    i 2＝I b
    其中，i 2表示所述电机的所述第二控制电流，I b表示i 1在所述第一时间t 0内的最大值。
  6. 根据权利要求5所述的折叠螺旋桨控制方法，其特征在于，所述在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转；其中所述最大甩桨转速小于所述无人机的起飞转速，具体包括：
    按照如下公式确定所述电机的第三控制电流：
    i 3＝a 1t 2+b 1
    其中，i 3表示所述电机的所述第三控制电流，t 2表示第三时间，a 1、b 1分别为所述第三控制电流i 3随着所述第三时间t 2变化的参数，a 1小于零。
  7. 根据权利要求6所述的折叠螺旋桨控制方法，其特征在于，在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转还包括：
    在所述电机的转速减小的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；
    若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第三控制电流的绝对值大小；
    若检测到所述至少两个叶片全部展开，则停止向所述电机发送所述驱动信号。
  8. 根据权利要求4或7中所述的折叠螺旋桨控制方法，其特征在于，所述检测所述折叠螺旋桨的所述至少两个叶片是否全部展开具体包括：
    在所述电机加速或减速过程中，监测所述折叠螺旋桨的每片叶片的开度；
    判断所述折叠螺旋桨的每片叶片的开度是否均在预设开度范围内；
    若所述折叠螺旋桨的每片叶片的开度均在预设开度范围内，则确定所述折叠螺旋桨的叶片全部展开，否则，确定所述折叠螺旋桨的叶片未全部展开。
  9. 根据权利要求8所述的折叠螺旋桨控制方法，其特征在于，所述预设开度范围的下限值大于或等于所述折叠螺旋桨叶片的最大开度的70％。
  10. 一种折叠螺旋桨控制装置，应用于无人机的电机，所述电机的输出轴与所述折叠螺旋桨相连，所述折叠螺旋桨包括桨夹和可折叠地连接至所述桨夹的至少两个叶片，其特征在于，所述装置包括：
    发送模块，用于无人机起飞前，在所述折叠螺旋桨的所述至少两个叶片未展开时，控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转；
    驱动模块，用于在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转；其中所述最大甩桨转速小于所述无人机的起飞转速；
    执行模块，用于重复执行驱动所述电机加速运转和驱动所述电机减速运转的过程，直到监控得到所述折叠螺旋桨的所述至少两个叶片全部展开的工作状态为止。
  11. 根据权利要求10所述的折叠螺旋桨控制装置，其特征在于，还包括：控制所述电机从待速状态起动；其中，所述控制器向所述电机发送控制所述折叠螺旋桨展开的驱动信号，所述驱动信号用于驱动所述电机加速运转包括：
    按照第一控制电流，驱动所述电机从初始转速开始加速运转。
  12. 根据权利要求11所述的折叠螺旋桨控制装置，其特征在于，所述按照第一控制电流，驱动所述电机从初始转速开始加速运转包括：
    按照如下公式确定所述电机的所述第一控制电流：
    i 1＝a 0t 0+b 0
    其中，i 1表示所述电机的所述第一控制电流，t 0表示第一时间，a 0、b 0分 别为所述第一控制电流i 1随着所述第一时间t 0变化的参数，a 0大于零，b 0大于或等于零。
  13. 根据权利要求12所述的折叠螺旋桨控制装置，其特征在于，所述装置还包括：
    检测模块，用于在所述电机的转速增加的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；
    调整模块，用于若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第一控制电流的绝对值大小；
    停止模块，用于若检测到所述至少两个叶片全部展开，则停止向所述电机发送所述驱动信号。
  14. 根据权利要求12或13所述的折叠螺旋桨控制装置，其特征在于，在所述在监控得到所述电机的转速达到最大甩桨转速且所述折叠螺旋桨处在未展开的工作状态时，驱动所述电机减速运转的步骤之前，还包括：
    按照如下公式确定所述电机的第二控制电流：
    i 2＝I b
    其中，i 2表示所述电机的所述第二控制电流，I b表示i 1在所述第一时间t 0内的最大值。
  15. 根据权利要求14所述的折叠螺旋桨控制装置，其特征在于，所述驱动模块具体用于：
    按照如下公式确定所述电机的第三控制电流：
    i 3＝a 1t 2+b 1
    其中，i 3表示所述电机的所述第三控制电流，t 2表示第三时间，a 1、b 1分 别为所述第三控制电流i 3随着所述第三时间t 2变化的参数，a 1小于零。
  16. 根据权利要求15所述的折叠螺旋桨控制装置，其特征在于，所述检测模块还用于在所述电机的转速减小的过程中，检测所述折叠螺旋桨的所述至少两个叶片是否全部展开；
    所述调整模块还用于若检测到所述至少两个叶片未全部展开，则根据剩余未展开的叶片数量，调整所述电机的所述第三控制电流的绝对值大小；
    所述停止模块还用于若检测到所述至少两个叶片全部展开，则停止向所述电机发送所述驱动信号。
  17. 根据权利要求13或16中所述的折叠螺旋桨控制装置，其特征在于，所述检测所述折叠螺旋桨的所述至少两个叶片是否全部展开具体包括：
    在所述电机加速或减速过程中，监测所述折叠螺旋桨的每片叶片的开度；
    判断所述折叠螺旋桨的每片叶片的开度是否均在预设开度范围内；
    若所述折叠螺旋桨的每片叶片的开度均在预设开度范围内，则确定所述折叠螺旋桨的叶片全部展开，否则，确定所述折叠螺旋桨的叶片未全部展开。
  18. 根据权利要求17所述的折叠螺旋桨控制装置，其特征在于，所述预设开度范围的下限值大于或等于所述折叠螺旋桨叶片的最大开度的70％。
  19. 一种无人机，其特征在于，包括：
    机身；
    与所述机身相连的机臂；
    安装在所述机臂上的电机；
    折叠螺旋桨，其与所述电机的输出轴相连，所述折叠螺旋桨包括桨夹和可折叠地连接至所述桨夹的至少两个叶片；
    存储器；
    处理器；以及
    计算机程序；
    其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行如权利要求1～9中任一项所述的方法，以对所述折叠螺旋桨进行控制。
  20. 一种电子设备可读存储介质，其特征在于，包括：程序，当其在电子设备上运行时，使得电子设备执行权利要求1～9任一项所述的方法。
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