WO2021217362A1

WO2021217362A1 - Method and apparatus for inspecting installation of blades of unmanned aerial vehicle

Info

Publication number: WO2021217362A1
Application number: PCT/CN2020/087307
Authority: WO
Inventors: 李罗川; 黄筱莺; 商志猛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2021-11-04
Also published as: CN113853556A

Abstract

A method and apparatus for inspecting the installation of blades (21, 22, 23, and 24) of an unmanned aerial vehicle (110). The method comprises: acquiring takeoff parameters of the unmanned aerial vehicle (110), the takeoff parameters of the unmanned aerial vehicle (110) comprising: a motion state parameter and a control instruction parameter (S101); determining incorrect installation information of the blades of the unmanned aerial vehicle (110) on the basis of the takeoff parameters of the unmanned aerial vehicle (110) (S102); and executing a corresponding operation on the basis of the incorrect installation information of the blades (21, 22, 23, and 24) (S103). The method implements the technical effects of takeoff protection and identification of incorrect installation of the blades (21, 22, 23, and 24), with respect to takeoff protection, allows a takeoff abnormality to be determined rapidly and the blades to be stopped automatically, and prevents the unmanned aerial vehicle (110) from tumbling and flying erratically as a result of taking off with the blades (21, 22, 23, and 24) being incorrectly installed, thus protecting the safety of the unmanned aerial vehicle (110) itself and the surrounding environment. With respect to the identification of incorrect installation of the blades (21, 22, 23, and 24), by determining an abnormal performance of the unmanned aerial vehicle (110) during takeoff, incorrect installation of which one or more of the blades (21, 22, 23, and 24) is identified accurately.

Description

Method and device for detecting installation of blades of unmanned aerial vehicle

Technical field

This application relates to the technical field of unmanned aerial vehicles, in particular to a method and device for detecting the installation of blades of an unmanned aerial vehicle.

Background technique

UAVs, such as rotary-wing UAVs, have detachable blades, and the wrong propeller may be installed during installation by the user. Taking a quad-rotor drone as an example, the quad-rotor drone includes four blades. The improper installation of the blades includes the exchange of two or more blades, the wrong installation of one or more blades, and the improper installation of the blades. If the blade is installed incorrectly, it will cause takeoff failure, which is manifested as ground roll, uncontrolled ground flight, etc., which will cause great harm to the drone itself and the surrounding environment. This problem has long existed for drones with detachable blades.

Summary of the invention

This application shows a method and device for detecting the installation of blades of an unmanned aerial vehicle.

In the first aspect, this application shows an unmanned aerial vehicle blade installation detection method, including:

Acquire take-off parameters of the unmanned aerial vehicle, where the take-off parameters of the unmanned aerial vehicle include: motion state parameters and control command parameters;

Determine the installation information of the blades of the unmanned aerial vehicle according to the takeoff parameters of the unmanned aerial vehicle;

Perform corresponding operations according to the blade installation information.

In the second aspect, this application shows an unmanned aerial vehicle blade installation detection device, including:

The acquisition module is used to acquire the take-off parameters of the unmanned aerial vehicle, where the take-off parameters of the unmanned aerial vehicle include: motion state parameters and control command parameters;

A determining module, configured to determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

The execution module is used to execute corresponding operations according to the blade installation information.

In the third aspect, this application shows a computing processing device, including:

A memory in which computer-readable codes are stored;

One or more processors, and when the computer-readable code is executed by the one or more processors, the computing processing device executes the aforementioned UAV blade installation detection method.

In the fourth aspect, this application shows an unmanned aerial vehicle including an unmanned aerial vehicle and a control terminal; the unmanned aerial vehicle includes a frame, a flight controller and a sensing system, the flight controller and the transmission The sensor system is arranged in the frame; the flight controller can transmit signals with the sensor system and the control terminal, and the control terminal can send control signals to the flight controller to control the The flight of unmanned aerial vehicles;

The flight controller is used to perform the following operations:

Determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

In a fifth aspect, the present application shows an unmanned aerial vehicle, which is characterized by comprising: a frame, a flight controller, and a sensing system, the flight controller and the sensing system are arranged in the frame; The flight controller is electrically connected to the sensing system;

The flight controller is used to perform the following operations:

Acquiring take-off parameters of an unmanned aerial vehicle, the take-off parameters of the unmanned aerial vehicle including the motion state parameters obtained from the sensing system and the control command parameters obtained from the flight controller;

In the sixth aspect, the present application shows a computer program product including instructions that, when the instructions are run on a computer, cause the computer to execute the aforementioned UAV blade installation detection method.

In the seventh aspect, this application shows a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the aforementioned method for detecting the installation of an unmanned aerial vehicle blade

The method and device for detecting the installation of unmanned aerial vehicle blades proposed in the embodiments of the present application can deal with the harm to the unmanned aerial system and the surrounding environment that may be caused by the user taking off with the wrong installation of the blades. The present invention uses the movement of the unmanned aerial vehicle State parameters and control command parameters monitor the takeoff process to determine whether the takeoff is abnormal, and perform further operations when abnormal, such as stopping the propeller, to protect the UAV and the surrounding environment.

Further, the solution proposed by the embodiment of the present application can also determine the installation error of one or more blades in combination with the abnormal performance of the wrong blade, and issue an error prompt to facilitate the user to check and correct.

Description of the drawings

Fig. 1 is a schematic architecture diagram of an unmanned aerial system of the present application;

Fig. 2 is a top view of the frame, motor and four blades of the unmanned aerial vehicle according to the embodiment of the present application.

Fig. 3 is a flowchart of a method for detecting the installation of a blade of an unmanned aerial vehicle according to an embodiment of the present application.

FIG. 4 is a sub-flow chart of S102 of the method for detecting the installation of blades of an unmanned aerial vehicle according to an embodiment of the present application.

Fig. 5 is a top view of the unmanned aerial vehicle according to an embodiment of the present application when the wrong blade is installed, and a side view showing the force state.

Fig. 6 is a block diagram of an unmanned aerial vehicle blade installation detection device according to an embodiment of the present application.

Fig. 7 schematically shows a block diagram of a computing processing device for executing the method according to the present invention; and

Fig. 8 schematically shows a storage unit for holding or carrying program codes for implementing the method according to the present invention.

Specific embodiment

The application will be further described in detail below in conjunction with the drawings and specific implementations.

The embodiments of the present application provide a method and device for detecting the installation of a blade of an unmanned aerial vehicle, and a method and device for detecting the installation of a blade of an unmanned aerial vehicle. The method and device are applied to an unmanned aerial system. The unmanned aerial vehicle may be, for example, a rotorcraft, for example, a multi-rotor drone propelled by multiple propulsion devices through the air. The embodiments of the present application are not Limited to this.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. The unmanned aerial vehicle of this embodiment is described by taking a rotary-wing drone as an example.

The unmanned aerial vehicle 100 may include an unmanned aerial vehicle 110, a display device 130 and a control terminal 140. The unmanned aerial vehicle may be an unmanned aerial vehicle, which may include a power system 150, a flight control system 160, and a frame. The power system 150 and the flight control system 160 may be arranged on the frame. The UAV 110 can wirelessly communicate with the control terminal 140 and the display device 130.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected to the fuselage, and is used for supporting the UAV 110 when it lands.

The power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 21-24, and one or more motors corresponding to the one or more propellers 21-24. 4. In this embodiment, corresponding to four propellers 21-24, the number of motors is also four. In other embodiments, the number of motors and propellers may also be other. The motor 152 is connected between the electronic governor 151 and the propeller 153. The motor 152 and the propeller 153 can be arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160, and According to the driving signal, a driving current is provided to the motor 152 to control the rotation speed of the motor 152. The de-driving current can also be referred to as the ESC current. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the unmanned aerial vehicle 110, and the power enables the unmanned aerial vehicle 110 to realize one or more degrees of freedom of movement. In some embodiments, UAV 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the unmanned aerial vehicle 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110. For example, the flight of the unmanned aerial vehicle 110 can be controlled according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the unmanned aerial vehicle 110 according to pre-programmed program instructions, and can also control the unmanned aerial vehicle 110 by responding to one or more control instructions from the control terminal 140.

The display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 110. In addition, the image taken by the imaging device and the like may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located at the ground end of the unmanned aerial vehicle 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remote control of the unmanned aerial vehicle 110.

In addition, the UAV 110 may also be equipped with a speaker (not shown in the figure), which is used to play audio files, and the speaker may be directly fixed on the UAV 110.

It should be understood that the above-mentioned naming of the components of the unmanned aerial system is only for identification purposes, and should not be understood as a limitation to the embodiments of the present application. The blade detection method described in the following embodiments may be executed by, for example, the flight controller 161, and the flight controller 161 transmits the signal back to the display device 130 on the ground.

This solution can currently be applied to a four-rotor unmanned aerial vehicle, and there are a total of 15 situations in which the user may install the wrong blade. The following takes the X configuration quadrotor as an example.

Figure 2 shows a schematic diagram of an unmanned aerial vehicle with a quadrotor in the X configuration. As shown in Figure 2, label A is the nose orientation of the unmanned aerial vehicle. It can be seen that the frame of the unmanned aerial vehicle 110 is connected to four motors, namely the first motor 1, the second motor 2, the third motor 3, and the second motor. Four motors 4. Each motor is connected with a corresponding blade, which is a first blade 21, a second blade 22, a third blade 23, and a fourth blade 24 in sequence. The first to fourth here are only for distinguishing the names of the four blades, and there is no relationship in any order.

The directions of motor rotation of the first motor 1, the second motor 3, the third motor 3, and the fourth motor 4 are counterclockwise, clockwise, counterclockwise, and clockwise in sequence. The blades used by the first motor 1 and the third motor 3 are called forward blades, and the blades used by the second motor 2 and the fourth motor 4 are called reverse blades. The difference between the forward and backward propellers is that their angles of attack are positive in their respective directions of rotation.

There can be many ways to install the blades incorrectly. Installation errors include: the blades are reversed, the blades are reversed, and so on. Specifically, it can be divided into: the two blades on the same side of the UAV are installed reversely, the two blades on the opposite side of the UAV are installed reversely, a single blade is installed incorrectly, and three or more blades are installed incorrectly. , The blade is not installed, etc. The following examples illustrate.

As shown in FIG. 1 and FIG. 2, for judging the abnormal take-off of the UAV 110, for example, the following methods can be used:

1) During the above take-off process of the UAV with blades 21-24 correctly installed, its attitude angle and angular speed will be controlled by the controller 161 in a stable state, and will not diverge or change in a certain direction; any blade After the installation is wrong, the tension provided by the blade is opposite to that of the correct installation, which will cause the UAV 110 to roll over during takeoff. The takeoff can be judged by judging whether the angle and angular velocity of the UAV changes abnormally during the takeoff. Whether it is abnormal.

2) During the above take-off process of the UAV with the correct blades, the error between the control command issued by the flight controller 161 and the actual motion feedback of the UAV 110 will be within a reasonable range; after any blade is installed incorrectly, If the flight attitude angle and angular velocity are abnormal, the flight controller 161 will output a control instruction to correct the flight attitude and angular velocity. Compared with the error of the actual motion feedback of the UAV 110, the control instruction is very large. The error of the controller command and feedback during the take-off process is used to determine whether the take-off is abnormal. The aforementioned attitude angle may be the attitude angle information of the unmanned aerial vehicle for each coordinate axis in the coordinate system, for example, the attitude angle of the unmanned aerial vehicle for the three coordinate axes in the XYZ coordinate system, or the space coordinates of the unmanned aerial vehicle. The relationship with the rotation angle of the ground coordinate, etc.

3) For an unmanned aerial vehicle 110 that meets flight safety requirements, the ratio of its maximum power to the weight of the entire aircraft (hereinafter referred to as thrust-to-weight ratio) must reach a certain value. It can judge the actual power output and the change of the UAV status during the take-off process to judge whether the thrust-to-weight ratio is abnormal, and further judge whether the take-off is abnormal.

4) When the blade is installed incorrectly, at the same speed, the current of the corresponding motor will be different from the current of the motor with the blade correctly installed. You can judge whether the takeoff is abnormal by judging the abnormality.

For the identification of which blade of the UAV 110 is installed incorrectly, for example, the following methods are available:

First, after the blades are installed incorrectly, the UAV 110 will have a large attitude angle and angular velocity change during the acceleration of the motor. By judging the magnitude and direction of the UAV's angle and angular velocity, it can be judged which blade is reversed. .

Second, after the blade is installed incorrectly, the current of the corresponding motor at the same speed will be different from that of the motor with the blade installed correctly, which can be used to determine which blade is installed reversely.

FIG. 3 shows a flowchart of a method for detecting the installation of a blade of an unmanned aerial vehicle according to an embodiment of the application. As shown in FIG. 3, an embodiment of the present invention proposes a method for detecting the installation of blades of an unmanned aerial vehicle, which can detect whether the blades of an unmanned aerial vehicle are installed correctly based on the foregoing principle. The detection method for the installation of the blades of the unmanned aerial vehicle includes:

S101: Acquire take-off parameters of the unmanned aerial vehicle, where the take-off parameters of the unmanned aerial vehicle include: motion state parameters and control instruction parameters;

S102: Determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

S103: Perform a corresponding operation according to the blade installation information.

The following is a specific introduction.

In S101, the execution subject, for example, the flight controller 161 in the UAV 110 shown in FIG. 1, is used to obtain the UAV takeoff parameters of the UAV 110. The take-off parameters of the UAV may include the motion state parameters and the control instruction parameters of the UAV 110.

The motion state parameter may include, for example, at least one of the current angular velocity of the unmanned aerial vehicle and the current angular acceleration of the unmanned aerial vehicle. The angular velocity of the UAV can include the roll angular velocity and the yaw angular velocity. The UAV angular acceleration may include the yaw angular acceleration. Further, in some embodiments, the roll angular velocity can be further divided into the front and rear roll angular velocity and the left and right roll angular velocity. The motion state parameters can be read from the sensor system 162 shown in FIG. 1.

The control command parameter may include, for example, one or more of the motor tension command parameter of the unmanned aerial vehicle, the angle control command of the unmanned aerial vehicle, and the angular acceleration control command of the unmanned aerial vehicle.

The motor pulling force command parameter includes the amount of pulling force that the motor needs to provide. The unmanned aerial vehicle angle control command is, for example, a command for controlling the angle of the unmanned aerial vehicle; the unmanned aerial vehicle angular acceleration control command is, for example, a command for controlling the angular acceleration of the unmanned aerial vehicle.

In some embodiments, the take-off parameters of the UAV may also include the ESC current parameters of the UAV. That is, the current parameters output by the ESC 151 of the UAV to each motor 1-4.

The control command parameters of the unmanned aerial vehicle may be parameters directly stored in the flight controller 161, and the flight controller 161 directly obtains these control command parameters. For example, the motor tension command parameter is derived from the command sent by the control terminal 140 to the flight controller 161 of the unmanned aerial vehicle. It contains the amount of pulling force that the motor needs to provide. This command is received by the receiving device of the unmanned aerial vehicle and sent to the flight controller 161, so the flight controller 161 can directly obtain the motor pull command parameters. In the same way, the UAV angle control command and the UAV angular acceleration control command may also be the command sent by the control terminal 140 to the flight controller 161 of the UAV. The ESC current parameter is the magnitude of the current output by the ESC 151 to each motor 1-4, and can also be obtained by the flight controller 161.

In S102, the execution body, such as the flight controller 161, may determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle.

FIG. 4 is a sub-flow chart of S102 of the method for detecting the installation of blades of an unmanned aerial vehicle according to an embodiment of the present application. As shown in Figure 4, S102 may include S1020a to S1020c:

S1020a: The execution subject determines that the blade is installed incorrectly according to the take-off parameters of the unmanned aerial vehicle.

In practical applications, the abnormal take-off of the unmanned aerial vehicle can be determined according to the movement state parameters and the control command parameters of the unmanned aerial vehicle, so as to determine whether there is a blade installation error. Specifically, the motion state parameters and control command parameters of the UAV can be used for comprehensive judgment. The motion state parameters include, for example, the attitude angle, angular velocity, and angular acceleration of the UAV. The control command parameter may include, for example, at least one of a motor tension command parameter, an unmanned aerial vehicle angle control command, an unmanned aerial vehicle angular velocity control command, and an unmanned aerial vehicle angular acceleration control command.

In some embodiments, the control parameters may also include the front and rear roll/left-right roll angular acceleration commands and corresponding thresholds of the UAV, the front-back roll/left-right roll angular velocity feedback and angular acceleration feedback, the front-back roll/left-right roll attitude angle, etc. Kind or several kinds.

Using these parameters to make comprehensive judgments, when certain conditions are met, it can be judged that the blades are installed incorrectly, so that further operations can be performed.

It is clear to those skilled in the art that the motion parameters and control parameters listed above are not limited to all parameters in actual use. Those skilled in the art can make various equivalents or changes on the basis of the list to determine whether There is a wrong blade installation. The following examples illustrate.

For example, if the installation error of the blade 21 and the blade 22 causes the abnormal takeoff, the judgment can be determined by the following conditions:

If one of the above three conditions is met, it can be judged that the takeoff is abnormal. Among them, α _T is the attitude change at time T during the take-off of the unmanned aerial vehicle, α ₀ is the attitude judgment threshold, α _cmd is the attitude control command during the take-off process, α _fbk is the attitude feedback, and α _err0 is the attitude control error judgment. Threshold,

Is the angular acceleration control command,

Is the angular acceleration command judgment threshold,

Is the actual angular acceleration feedback, rolling forward is negative and rolling backward is positive,

Is the actual angular velocity feedback, rolling forward is negative and rolling backward is positive,

Is the angular velocity judgment threshold. It is worth noting that the aforementioned judgment threshold can be selected through actual tests, and is not particularly limited here.

For another example, if the blade 21 is installed incorrectly, it may cause abnormal roll forward and roll right during takeoff. Specifically, when the parameters are as follows, it is considered that abnormal roll forward and roll right have occurred, so it can be judged There is a wrong blade.

The formula for judging the roll-forward exception is as follows:

Among them, α _T is the attitude change at time T during the take-off of the unmanned aerial vehicle, α ₀ is the attitude judgment threshold, α _cmd is the attitude control command during the take-off process, α _fbk is the attitude feedback, and α _err0 is the attitude control error judgment. Threshold,

Is the angular acceleration control command,

Is the angular acceleration command judgment threshold,

The formula for judging the right roll abnormality is as follows:

Among them, β _T is the change of the left and right roll attitude at time T during the take-off process of the unmanned aerial vehicle, β ₀ is the left and right roll attitude change threshold, β _cmd is the left and right roll attitude control command during takeoff, and β _fbk is the left and right roll attitude. Rolling attitude feedback, β _err0 is the left and right rolling attitude control error judgment threshold,

For the left and right roll angular acceleration control command,

Determine the threshold for the left and right roll angular acceleration command,

It is the feedback of the actual left and right roll angular acceleration. Rolling to the left is negative and rolling to the right is positive.

It is the feedback of the actual left and right rolling angular velocity. Rolling to the left is negative and rolling to the right is positive.

It is the threshold value for judging the angular velocity of the left and right rolls. It is worth noting that the aforementioned judgment threshold can be selected through actual tests, and is not particularly limited here. When it is judged that there is an abnormality in the forward roll and the right roll, it is considered that the take-off is abnormal, and it is judged that a blade installation error has occurred.

After S1020a, further, the execution subject may also execute S1020b to determine the improperly installed blade, for example, to determine which position one or more blades are installed incorrectly.

According to the aforementioned unmanned aerial vehicle's attitude and abnormal take-off parameters of the unmanned aerial vehicle, it is also possible to determine the specific improperly installed blade. There are many forms of unmanned aerial vehicle blade installation errors. Table 1 shows the type of each installation error, the performance of the unmanned aerial vehicle, and the parameters for judging whether it is such an installation error. The specific principle will be explained in detail later.

Table 1

In Table 1, the listed parameters are not all necessary for determining which one or more blades are installed incorrectly, and those skilled in the art can obtain the parameters as needed to make a judgment.

In the embodiments of the present application, for clarity of description, the direction A of the nose of the UAV 110 is defined as “front”, and the opposite side is “rear”. The side and back sides define "left" and "right" respectively. The aforementioned "same side" means that two blades are arranged adjacently, that is, two blades that are adjacent clockwise or counterclockwise; "opposite side" means that two blades are arranged oppositely, that is, two blades that are not adjacent clockwise or counterclockwise. Paddles. According to the above table, the reverse installation of the same side blade shows a roll, the opposite installation shows a rotation, and a single blade installation shows a roll or flip in two directions. If more than three blades are installed incorrectly, it means that the motor pull output command parameters are abnormal, or the ESC current value output is abnormal.

Through the above method, it can be determined whether the blade is installed incorrectly and which one or more blades are installed incorrectly.

After S1020b is executed, S1020c: sending prompt information may also be executed, for example, including at least one of the following:

Send the determined prompt information corresponding to the information of the incorrectly installed blade to the display device; or

According to the determined information of the improperly installed blade, the corresponding prompt message will be sent out.

In one case, the execution body may send the determined information of the incorrectly installed blade (for example, the installation error of the blade 21) to a display device for display. The display device is, for example, the display device 130 shown in FIG. 1. Or the user's VR glasses, mobile phone with App installed, etc.

In another case, the execution body may have a prompt device such as sound, light, etc., and according to the determined blade information of the installation error, the execution body may send out corresponding prompt information. For example, a light corresponding to the setting of the blade is used to prompt the user that the blade is installed incorrectly.

After sending the corresponding prompt information to the display device or the execution subject directly, the present invention may further include: information prompting the correct installation method of the blade, for example, the correct installation can be directly displayed on the display device through the user's click Steps or pictures are convenient for users to correct.

In S103, the execution body, for example, the flight controller 161, may execute corresponding operations according to the blade installation information.

The above-mentioned corresponding operation may include at least one of the following, for example:

S103a: Send the prompt information to the display device;

S103b: Display corresponding prompt information according to the blade installation information;

S103c: Stop the rotation of the blades of the unmanned aerial vehicle.

For S103a, the flight controller 161 may send the determined blade installation information to the display device 130. The display device 130 may be a mobile phone installed with the user connected to the flight controller 161 through signal transmission, a display device that is integrated with the unmanned aerial vehicle 110 but is provided separately, or a display screen integrated in the unmanned aerial vehicle. The prompt message corresponding to the installation information sent by the flight controller 161 may be a message prompting a blade installation error, or a specific message prompting which blade is installed incorrectly, etc., which is not limited here.

For S103b, a display device may be integrated on the flight controller 161, so the corresponding prompt information can be directly displayed on the flight controller 161 based on the blade installation information. The prompt message can also be a message indicating that there is a blade installation error, or a specific message indicating which blade is installed incorrectly, etc., which is not limited here.

Regarding S103c, since the blade installation information has been determined, the flight controller 161 may directly control the rotation of the blades, that is, stop the motors corresponding to all the blades to avoid damage to the unmanned aerial vehicle. In some cases, in addition to controlling the rotation of the blades, the flight controller 161 can also control other functions of the unmanned aerial vehicle to stop working at the same time, so as to protect the unmanned aerial vehicle from damage.

In the solution of the present invention, only S103a, S103b, or S103c can be executed, or two or more of them can be executed, and the order of execution is not limited. For example, S103a and S103c can be executed, and S103a can be executed first to send the prompt information to Display device; in step S103c, the rotation of the blades of the UAV is stopped. Or first execute S103c to stop the rotation of the blades of the UAV, and then execute S103a to send the prompt information to the display device or the like.

In some embodiments, S102 is determining the installation information of the blades of the UAV according to the take-off parameters of the UAV, which may include: determining the propellers of the UAV according to the take-off parameters of the UAV. Blade installation error; in S103, according to the blade installation information, performing a corresponding operation includes: stopping the rotation of the blade of the unmanned aerial vehicle.

The method for detecting the installation of blades of an unmanned aerial vehicle proposed in the embodiment of the present invention can perform the technical effects of abnormal take-off protection and recognition of blade installation errors, which are specifically as follows:

The method for detecting the installation of the blades of the unmanned aerial vehicle proposed in the embodiment of the present invention can determine the take-off abnormality caused by the wrong installation of the blades of the unmanned aerial vehicle, and perform processing operations such as automatically stopping the propellers.

The present invention makes a strategy of automatically stopping the propeller by abnormal judgment for various situations of incorrect propeller installation. Through the comprehensive judgment of motion parameters and control parameters, the timeliness of abnormal judgment is improved, and the probability of ground roll and uncontrolled ground flight of the unmanned aerial vehicle with wrong propellers is greatly reduced.

In addition, the method for detecting the installation of the blades of the unmanned aerial vehicle proposed in the embodiment of the present invention uses the motion parameters and control parameters of the unmanned aerial vehicle to determine which blade or blades are installed incorrectly based on the unmanned aerial vehicle's motion performance and control output during abnormal takeoff. , Used to give users precise tips.

In S102, Table 1 has been used to determine the type of each installation error, the performance of the UAV, and the parameters required to determine whether the installation error is of this type. The following describes in detail the performance of each installation error and abnormal parameters through four common installation error situations.

The first case: the two blades are installed incorrectly. This situation includes: 1. Two blades on the same side are installed reversely; 2. Two opposite blades are installed reversely.

For the takeoff process with two wrong blades installed: two blades on the same side are installed wrong (including blade 21/blade 22, blade 22/blade 23, blade 23/blade 24, blade 21/blade There are 4 situations in Ye 24) The UAV will roll around one side on the ground (front, back, left, right). Take blade 21/blade 22 reversed as an example:

Figure 5 shows a schematic diagram of the improper installation of the blade 21 and the blade 22 during take-off and roll. During takeoff, the resultant force generated by blade 21 and blade 22 is F ₁₂ , the resultant force generated by blade 23 and blade 24 is F ₃₄ , the gravity of the unmanned aerial vehicle itself is recorded as G, and the unmanned aerial vehicle is also supported by the ground. Force F _{reaction force}

The distance between the center of gravity of the unmanned aerial vehicle and motor 3 and motor 4 is L ₃₄ , the distance from motor 1 and motor 2 is L ₁₂ , the total length is L, and the moment of inertia of the unmanned aerial vehicle around the front leg is I.

For the situation that the UAV 110 rolls on the ground, it can be expressed by the moment angular acceleration equation:

Among them, α is the angle of the UAV's head down relative to the horizontal plane,

Is the corresponding angular acceleration.

It can be seen that as the motor speed increases, the UAV 110 will generate a forward roll angular acceleration, and over time, the UAV 110 will generate a forward roll angular velocity, and finally roll forward.

In this process, although the flight controller 161 will continue to increase the output of the motor 1 and motor 2, in order to increase the pulling force of the motor 1 and motor 2, and reverse the tendency of the unmanned aerial vehicle to roll forward, but because the blade 21 and the blade 22 is installed incorrectly, the generated force F ₁₂ is downward, which is offset by the ground support reaction force, and cannot generate enough pulling force to reverse the forward rolling trend.

Based on the above analysis, the judgment for the abnormal takeoff of the blade 21 and the blade 22 installed incorrectly can be judged by the following conditions:

If one of the above three conditions is met, it can be judged that the takeoff is abnormal. Among them, α _T is the attitude change at time T during take-off of the unmanned aerial vehicle, α ₀ is the attitude judgment threshold, α _cmd is the attitude control command during the take-off process, α _fbk is the attitude feedback, and α _err0 is the attitude control error judgment. Threshold,

Is the angular acceleration control command,

Is the angular acceleration command judgment threshold,

For the identification of the blade 21 and the blade 22 with the wrong blade, the following conditions can be used to judge:

in

Is the forward roll angular velocity of the UAV at time T, forward is negative and backward is positive,

Is the judgment threshold of the roll forward angular velocity, which is a negative value with a large absolute value.

Is the angular velocity of the unmanned aerial vehicle rolling left and right at time T, the left is negative and the right is positive,

Is the judging threshold of the left and right roll angular velocity,

Is the yaw angular velocity of the unmanned aerial vehicle at time T, the counterclockwise rotation in the top view is negative, and the clockwise rotation is positive,

Is the yaw angular velocity judgment threshold. After the abnormality is judged, and the above conditions are met at the same time, it can be judged that the blade 21 and the blade 22 are installed incorrectly.

For the installation errors of blade 22 and blade 23, blade 23 and blade 24, blade 21 and blade 24, takeoff abnormality and blade installation error judgment method is similar to the above method, you can use the UAV attitude Comprehensive judgment of angle, angular velocity, angular acceleration, and control commands.

That is to say, the aforementioned S102, that is, judging the installation error of the blade according to the take-off parameters of the UAV, and determining the wrong installation blade, may include:

S102a, using the front and rear roll angular velocity, the left-right roll angular velocity, and the yaw angular velocity of the unmanned aerial vehicle to determine the installation error of the same side blades of the unmanned aerial vehicle.

Specifically, S102a, using the front and back roll angular velocity, left-right roll angular velocity, and yaw angular velocity of the UAV to determine the installation error of the same-side blades of the UAV may include four situations:

S1021a: When the front and rear roll angular velocity thresholds, the left-right roll angular velocity thresholds, the left-right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds meet the front roll state of the UAV, it is determined that it is close to the nose of the UAV. Wrong installation of the first blade and the second blade on one side;

S1022a: When the front and rear roll angular velocity thresholds, the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds meet the rollover state of the UAV, it is determined that it is far away from the UAV. The third and fourth blades on the side of the nose are installed incorrectly;

S1023a: When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the unmanned aerial vehicle's left turning state, it is determined to be located in the unmanned aerial vehicle The second blade and the third blade on the first side of the longitudinal axis are installed incorrectly;

S1024a: When the front and rear roll angular velocity thresholds, the left-right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds meet the right turning state of the unmanned aerial vehicle, it is determined that it is located in the unmanned aerial vehicle. The first blade and the fourth blade on the second side in the longitudinal direction are reversed.

The front roll state, the back roll state, the left roll state, and the right roll state of the UAV here have been described by formulas above, or can be directly calculated by those skilled in the art, and are not limited here. For example, the forward roll state can be determined by the aforementioned formula:

The aforementioned right flip state can be determined by the aforementioned formula:

In view of the situation where the two diagonal blades are installed incorrectly (including the two cases of blade 21/blade 23 and blade 22/blade 24 incorrectly installed), the UAV will behave as yaw during take-off. . Take the wrong installation of blade 21/blade 23 as an example. At the same speed, the downward force generated by blade 21 and blade 23 is less than the upward force generated by blade 22/blade 24, blade 21 and blade 23 The motor torque generated by the rotation is smaller than the motor torque generated by the rotation of the blade 22/the blade 24. This is determined by the aerodynamic design of the blade itself. The movement of the unmanned aerial vehicle 110 on the ground can be expressed by the following equation:

Among them, F ₂₄ is the pulling force generated by motor 2 and motor 4, F ₁₃ is the downward thrust generated by motor 1 and motor 3, G is the gravity of the UAV, F _pressure is the pressure on the ground by the UAV, and T ₂₄ is the motor 2. And the motor torque generated by the rotation of the motor 4, T ₁₃ is the motor torque generated by the rotation of the motor 1 and the motor 3, f _friction is the ground friction coefficient, I _z is the moment of inertia of the unmanned aerial vehicle's yaw,

Is the yaw angular velocity.

It can be seen from the above equation that as the speed gradually increases, the UAV's pressure on the ground gradually decreases, and the motor torque generated by the motor 2 and motor 4 gradually increases, and eventually an unmanned aircraft corresponding to the motor torque of the motor 2 and motor 4 will be generated. The angular acceleration of the aircraft, accumulated over time, the unmanned aircraft appears to rotate on the ground.

Based on the above analysis, the judgment of the installation error of the blade 21 and the blade 23 and the abnormal take-off can be judged by the following conditions:

Satisfying the above-mentioned judgment conditions can be used to judge the installation and take-off abnormality of the blade 21 and the blade 23, and can also be used as an installation error condition of the blade 21 and the blade 23.

The method for judging the installation errors of the

blades

22 and 24, the abnormal take-off and the installation errors of the blades is similar to the above method, and the attitude angle, angular velocity, angular acceleration, and control commands of the UAV can be used for comprehensive judgment.

From this, it can be seen that the aforementioned S102, that is, judging the installation error of the blade according to the take-off parameters of the UAV, and determining the wrong blade installation, may include:

S102b, using the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration to determine the installation error of the opposite blades of the unmanned aerial vehicle.

Specifically, S102b, that is, the use of the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration to determine the installation error of the opposite blade may include the following situations:

S1021b, when the relationship between the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, meet the requirements of the unmanned aerial vehicle Rotate toward the first direction, and determine that the two blades on the first diagonal of the UAV are installed incorrectly;

S1022b, when the front and rear roll angular velocity thresholds, the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds, the yaw angular acceleration and the yaw angular acceleration thresholds, meet the requirements of the unmanned aerial vehicle. Rotating toward the second direction, it is determined that the two blades on the second diagonal of the UAV are installed incorrectly.

In the second case, for the take-off process when a wrong blade is installed (one of blade 21, blade 22, blade 23, blade 24 is installed wrong, there are 4 cases in total), the UAV 110 will go around the corresponding The tripod of the motor with the wrong blade rotates. Take the wrong installation of the blade 21 corresponding to the motor 1 as an example:

After the blade 21 of the motor 1 is installed incorrectly, the motor 1 rotates the blade 21 to generate a downward thrust. Motor 2, motor 3, and motor 4 are installed correctly to generate upward pulling force, and the motor gradually accelerates during takeoff. The UAV 110 will roll forward and roll right at the same time. Take off anomalies comprehensively judge roll forward and roll right. Among them, the following parameters can be used to determine whether the UAV 110 has a forward roll abnormality or a right roll abnormality, that is, whether a blade installation error has occurred:

Judging the roll-forward abnormality can be determined by the aforementioned formula:

Judging the right roll abnormality can be determined by the aforementioned formula:

When it is judged that there is an abnormality, it is considered that the take-off is abnormal, and the flight controller 161 can issue an instruction to make the UAV automatically stop the propellers.

Taking the incorrect installation of the blade 21 as an example, the following conditions can be used to determine whether the blade 21 is installed incorrectly:

in

Is the forward roll angular velocity of the unmanned aerial vehicle at time T, forward is negative and backward is positive,

The threshold for judging the angular velocity of the left and right rolls is a positive value with a relatively large absolute value.

Is the yaw angular velocity judgment threshold. After it is judged that the abnormality occurs, and the above conditions are satisfied at the same time, it can be judged that the blade 21 is installed incorrectly.

For the case where the blade 22, the blade 23, or the blade 24 is incorrectly installed, the method for judging the abnormal take-off and blade installation error is similar to the above-mentioned method using the UAV attitude angle, angular velocity, angular acceleration, and control command to comprehensively judge. When the blade 22 is installed incorrectly, the UAV 110 rolls toward the front and flips toward the left. When the blade 23 is incorrectly installed, the UAV 110 rolls toward the rear and flips toward the left. When the blade 24 is installed incorrectly, the UAV 110 rolls toward the rear and flips toward the right.

Therefore, the aforementioned S102, that is, judging the installation error of the blade according to the take-off parameters of the UAV, and determining the wrong blade installation, includes:

S102c, using the front and back roll angular velocity, left-right roll angular velocity, yaw angular velocity, and yaw angular acceleration of the UAV to determine the installation error of a single blade.

Specifically, the S102c, that is, the use of the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration of the UAV to determine the installation error of a single blade may include the following situations:

S1021c, when the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the relationship between the yaw angular acceleration and the yaw angular acceleration threshold Meet the state of rolling toward the front and turning toward the right, and determine that the first blade of the unmanned aerial vehicle is installed incorrectly;

S1022c, when the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right roll angular velocity and the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are related Meet the states of rolling toward the front and turning toward the left, and determine that the second blade of the unmanned aerial vehicle is installed incorrectly;

S1023c, when the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right roll angular velocity and the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are related Meet the conditions of the unmanned aerial vehicle rolling towards the rear and turning towards the left side, and it is determined that the third blade of the unmanned aerial vehicle is installed incorrectly;

S1024c, when the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the relationship between the yaw angular acceleration and the yaw angular acceleration threshold It is determined that the unmanned aerial vehicle rolls towards the rear and rolls towards the right, and it is determined that the fourth blade of the unmanned aerial vehicle is installed incorrectly.

In the third case, in the case of incorrect installation of 3 blades (three cases in total) or 4 blades (one case), because 3 or more are installed incorrectly, the motor has 4 propellers during acceleration and take-off. The direction of the resultant force generated by the blades is downward, and the UAV has a greater pressure on the ground. At this time, the UAV will not have a large attitude change on the ground. In this case, it can be controlled by the output of the control and the actual output of the motor. The abnormal takeoff is judged as follows:

Among them, lift _cmd is the motor pulling force output command parameter, lift ₀ is the motor pulling force output judgment threshold, Σi _esc is the sum of the 4 ESC currents, and i ₀ is the current judgment threshold.

According to the above conditions, when the motor pull force output command parameter exceeds a certain threshold and the actual ESC current exceeds a certain threshold, there is almost no change in the attitude of the UAV, and the UAV 110 still does not take off, it can be determined that the takeoff is abnormal, and the corresponding operation can be performed. Operation, such as instructing to stop the oars.

Therefore, the aforementioned S102, that is, judging the installation error of the blade according to the take-off parameters of the UAV, and determining the wrong installation blade, may include:

In S102d, the UAV's front and rear roll angular velocity, left-right roll angular velocity, yaw angular velocity, motor pull output command parameters and ESC current parameters are used to determine the installation errors of more than three blades of the UAV.

Specifically, S102d may include the following situations:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold meet the specified relationship, and the motor pull force output command parameter is greater than the motor pull force output command When the threshold value and the ESC current parameter are greater than the ESC current parameter threshold value, it is determined that more than three blades of the UAV are installed incorrectly.

In the fourth case, one or more blades are not installed: At this time, the UAV 110 behaves as follows: on the corresponding motor without blades, the ESC current is very small and the resistance is large. Therefore, it can be judged whether the motor is not equipped with a blade by whether the value of the ESC current of each motor is less than the threshold value, or whether the corresponding resistance is greater than the threshold value.

In summary, the method for detecting the installation of blades of an unmanned aerial vehicle proposed in the embodiments of the present invention can realize the technical effects of take-off protection and recognition of improper installation of blades, which are specifically as follows:

The present invention makes a strategy of automatically stopping the propeller by abnormal judgment for various situations of incorrect propeller installation. By comprehensively judging the attitude angle, angular velocity change, control command output, motor output, etc., the timeliness of abnormal judgment is improved, and the probability of ground roll and uncontrolled ground flight of the unmanned aerial vehicle with wrong propellers is greatly reduced.

In addition, the method for detecting the installation of the blades of the unmanned aerial vehicle proposed in the embodiment of the present invention can determine which blade or blades are reversed according to the movement performance and control output of the unmanned aerial vehicle during abnormal takeoff, and prompt the user to find errors as soon as possible. Troubleshoot.

Fig. 6 shows an embodiment of a detection device for blade installation of an unmanned aerial vehicle according to the present application. As shown in Figure 6, the UAV blade installation detection device includes the following modules:

The obtaining module 601 is used to obtain take-off parameters of the unmanned aerial vehicle, where the take-off parameters of the unmanned aerial vehicle include: motion state parameters and control instruction parameters;

Specifically, the acquisition module 601 can acquire the UAV takeoff parameters of the UAV 110. The take-off parameters of the UAV may include the motion state parameters and the control instruction parameters of the UAV 110.

The motion state parameters may include, for example, the current UAV angular velocity, the current UAV angular acceleration, and so on. The angular velocity of the UAV can include the roll angular velocity and the yaw angular velocity. The UAV angular acceleration may include the yaw angular acceleration. Further, in some embodiments, the roll angular velocity can be further divided into the front and rear roll angular velocity and the left and right roll angular velocity. The motion state parameters can be read from the sensor system 162 shown in FIG. 1.

The determining module 602 is configured to determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

The determining module 602 may determine the blade installation error according to the take-off parameters of the UAV. Further, the determining module 602 can also execute S1020b to determine the improperly installed blades, for example, to determine which position one or more blades are installed incorrectly. The determining module 602 may also send out prompt information, for example, including at least one of the following: sending prompt information corresponding to the determined information of the improperly installed blade to the display device; sending out corresponding information according to the determined improperly installed blade information Prompt information.

The execution module 603 is configured to execute corresponding operations according to the blade installation information.

The execution module 603 may execute corresponding operations according to the blade installation information. The aforementioned corresponding operation may include, for example, at least one of the following: sending prompt information to a display device; displaying corresponding prompt information according to the blade installation information; and stopping the rotation of the blades of the unmanned aerial vehicle.

In an embodiment of the device for detecting the installation of blades of an unmanned aerial vehicle, the determining module is configured to perform the following operations:

According to the take-off parameters of the unmanned aerial vehicle, it is determined that the blade is installed incorrectly.

In an embodiment of the device for detecting the installation of blades of an unmanned aerial vehicle, the determination module is further configured to perform the following operations: determine the improperly installed blades according to the take-off parameters of the unmanned aerial vehicle.

In an embodiment of the device for detecting the installation of blades of an unmanned aerial vehicle, the device further includes:

The sending module is used to send the prompt information corresponding to the determined information of the incorrectly installed blade to the display device; or

The prompt module is used to send out corresponding prompt information according to the determined information of the improperly installed blade.

In an embodiment of the device for detecting the installation of the blades of the unmanned aerial vehicle, the motion state parameter includes at least one of the attitude information of the unmanned aerial vehicle, the angular velocity of the unmanned aerial vehicle, and the angular acceleration of the unmanned aerial vehicle.

In an embodiment of the device for detecting the installation of blades of an unmanned aerial vehicle, the control instruction parameters include: motor tension instruction parameters, unmanned aerial vehicle angle control instructions, unmanned aerial vehicle angular velocity control instructions, and unmanned aerial vehicle angular acceleration control instructions at least among them one.

In an embodiment of the UAV blade installation detection device, the UAV take-off parameter further includes: the UAV ESC current parameter.

In an embodiment of the device for detecting the installation of a blade of an unmanned aerial vehicle, the angular velocity of the unmanned aerial vehicle includes a roll angular velocity and a yaw angular velocity; and the angular acceleration of the unmanned aerial vehicle includes a yaw angular acceleration.

In an embodiment of the device for detecting the installation of the blades of the unmanned aerial vehicle, the roll angular velocity includes the front-to-back roll angular velocity and the left-right roll angular velocity.

In an embodiment of the UAV blade installation detection device, the motion state parameters include the angular velocity and angular acceleration of the UAV, and the angular velocity includes the forward and backward roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity. The steps of judging the installation error of the blade by the takeoff parameters of the unmanned aerial vehicle and determining the installation error of the blade include:

Using the front and back roll angular velocity, the left-right roll angular velocity, and the yaw angular velocity of the unmanned aerial vehicle to determine the installation error of the same side blades of the unmanned aerial vehicle.

In an embodiment of the device for detecting the installation of blades of an unmanned aerial vehicle, the step of determining the installation error of the unmanned aerial vehicle's blades on the same side by using the front and rear roll angular velocity, the left-right roll angular velocity, and the yaw angular velocity of the unmanned aerial vehicle include:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the front roll state of the unmanned aerial vehicle, it is determined that it is close to the side of the nose of the unmanned aerial vehicle The installation of the first blade and the second blade is wrong;

When the relationship between the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold meets the unmanned aerial vehicle's post-rolling state, it is determined to be far away from the unmanned aerial vehicle nose Wrong installation of the third and fourth blades on one side;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the left rollover state of the unmanned aerial vehicle, it is determined that it is located on the longitudinal axis of the unmanned aerial vehicle The second blade and the third blade on the first side of the direction are installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the right turning state of the unmanned aerial vehicle, it is determined that it is located on the longitudinal axis of the unmanned aerial vehicle The first blade and the fourth blade on the second side of the direction are reversed.

In an embodiment of the device for detecting the installation of blades of an unmanned aerial vehicle, the motion state parameters include the angular velocity and angular acceleration of the unmanned aerial vehicle, and the angular velocity includes the front and rear roll angular velocity, the left and right flip angular velocity, the yaw angular velocity, and the yaw angular acceleration. The step of judging the installation error of the blade according to the take-off parameters of the UAV, and determining the installation error of the blade includes:

The front and back roll angular velocity, the left-right roll angular velocity, the yaw angular velocity and the yaw angular acceleration are used to determine the installation error of the blades on the opposite side of the unmanned aerial vehicle.

In an embodiment of the device for detecting the installation of a blade of an unmanned aerial vehicle, the step of determining the installation error of the opposite blade by using the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration includes:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship satisfies the unmanned aerial vehicle heading first One direction rotation state, determining that the two blades located on the first diagonal of the UAV are installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship satisfies the unmanned aerial vehicle heading first In the two-direction rotation state, it is determined that the two blades on the second diagonal of the UAV are installed incorrectly.

Using the front and back roll angular velocity, left-right roll angular velocity, yaw angular velocity, and yaw angular acceleration of the unmanned aerial vehicle, the installation error of a single blade is determined.

In an embodiment of the UAV blade installation detection device, the step of determining the installation error of a single blade by using the front and back roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration of the unmanned aerial vehicle includes:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship meets the orientation The state of rolling forward and turning to the right side determines that the first blade of the unmanned aerial vehicle is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship meets the orientation The state of rolling forward and turning to the left, it is determined that the second blade of the UAV is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right roll angular velocity and the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are satisfied The state of the human aircraft rolling toward the rear and turning toward the left, and it is determined that the third blade of the unmanned aircraft is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right roll angular velocity and the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are satisfied The state of the human aircraft rolling toward the rear and turning toward the right determines that the fourth blade of the unmanned aircraft is installed incorrectly.

In an embodiment of the UAV blade installation detection device, the motion state parameters include the angular velocity and angular acceleration of the UAV, the angular velocity includes the front and rear roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity, and the control command The parameters include motor tension output command parameters, and the UAV takeoff parameters also include ESC current parameters,

The step of judging the installation error of the blade according to the take-off parameters of the unmanned aerial vehicle, and determining the installation error of the blade includes:

Use the UAV's front and rear roll angular velocity, left-right flip angular velocity, yaw angular velocity, motor pull output command parameters and ESC current parameters to determine the installation errors of three or more blades of the UAV.

In an embodiment of the detection device for the installation of the blades of the unmanned aerial vehicle, the use of the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, the motor pulling force output command parameter, and the ESC current parameter to determine the installation error of more than three blades The steps include:

In an embodiment of the UAV blade installation detection device, the control command parameter includes a motor pulling force output command parameter, the UAV take-off parameter also includes an ESC current parameter and a propeller resistance value, and the Unmanned aerial vehicle take-off parameters to determine the installation error of the blade, and the steps to determine the installation of the wrong blade include:

The electric current parameter and the propeller resistance value of the UAV are used to determine that one or more blades are not installed.

In an embodiment of the device for detecting the installation of blades of an unmanned aerial vehicle, the step of determining that one or more blades are not installed by using the ESC current parameter and the resistance value of the propeller includes:

When it is determined that the ESC current parameter corresponding to the motor of one of the propellers is less than the corresponding ESC current parameter threshold, and the propeller resistance value is greater than the corresponding resistance threshold, it is determined that the blade corresponding to the motor of the propeller is not installed.

The device for detecting the installation of blades of an unmanned aerial vehicle provided in the embodiment of the present invention can realize the technical effects of take-off protection and recognition of blade installation errors, which are specifically as follows:

The present invention makes a strategy of automatically stopping the propeller by abnormal judgment for various situations of incorrect propeller installation. The comprehensive judgment of attitude angle, angular velocity change, control command output, motor output, etc. improves the timeliness of abnormal judgment, and greatly reduces the probability of ground roll and uncontrolled ground flight of unmanned aerial vehicles with wrong propellers.

In addition, the method for detecting the installation of UAV blades according to the embodiment of the present invention can determine which blade or blades are reversed according to the motion performance and control output of the UAV during abnormal takeoff, and prompt the user to find errors as soon as possible. Troubleshoot.

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

The embodiment of the present application also shows an unmanned aerial system. As shown in FIG. 1, the unmanned aerial vehicle 100 includes an unmanned aerial vehicle 110 and a control terminal 140; the unmanned aerial vehicle 110 includes a frame, a flight controller 161, and a control terminal 140. The sensing system 162, the flight controller 161 and the sensing system 162 are arranged in the frame; the flight controller 161 can transmit signals between the sensing system 162 and the control terminal 140, The control terminal 140 can send a control signal to the flight controller 161 to control the flight of the UAV 110;

The flight controller 161 is used to perform the following operations:

The embodiment of the present application also shows an unmanned aerial vehicle 110. As shown in FIG. 1, the unmanned aerial vehicle 110 includes a frame, a flight controller 161, and a sensor system 162. The flight controller 161 and the sensor The system 162 is installed in the frame; the flight controller 161 is electrically connected to the sensing system 162;

The flight controller is used to perform the following operations:

Acquiring take-off parameters of the unmanned aerial vehicle, the take-off parameters of the unmanned aerial vehicle including the motion state parameters acquired from the sensing system 162 and the control command parameters acquired from the flight controller 161;

An embodiment of the present application also provides a computer program, including computer-readable code, which when the computer-readable code runs on a computing processing device, causes the computing processing device to execute the aforementioned UAV blade installation detection method.

The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, each process of the above-mentioned photographing method embodiment is realized, and the same technical effect can be achieved. To avoid repetition, I won’t repeat it here. Wherein, the computer-readable storage medium, such as read-only memory (Read-Only Memory, ROM for short), random access memory (Random Access Memory, RAM for short), magnetic disk, or optical disk, etc.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of the present invention. The present invention can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

For example, FIG. 7 shows a computing processing device that can implement the method according to the present invention. The computing processing device traditionally includes a processor 1010 and a computer program product in the form of a memory 1020 or a computer readable medium. The memory 1020 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 1020 has a storage space 1030 for executing program codes 1031 of any method steps in the above methods. For example, the storage space 1030 for program codes may include various program codes 1031 respectively used to implement various steps in the above method. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards, or floppy disks. Such computer program products are usually portable or fixed storage units as described with reference to FIG. 8. The storage unit may have a storage segment, storage space, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 7. The program code can be compressed in an appropriate form, for example. Generally, the storage unit includes computer-readable code 1031', that is, code that can be read by a processor such as 1010, which, when run by a computing processing device, causes the computing processing device to execute the method described above. The various steps.

This application is described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to this application. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing terminal equipment to generate a machine, so that instructions executed by the processor of the computer or other programmable data processing terminal equipment A device for realizing the functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram is generated.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing terminal equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The instruction device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing terminal equipment, so that a series of operation steps are executed on the computer or other programmable terminal equipment to produce computer-implemented processing, so that the computer or other programmable terminal equipment The instructions executed above provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

Finally, it should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities. Or there is any such actual relationship or sequence between operations. Moreover, the terms "including", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements not only includes those elements, but also includes those elements that are not explicitly listed. Other elements listed, or also include elements inherent to this process, method, article, or terminal device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, article, or terminal device that includes the element.

Claims

An unmanned aerial vehicle blade installation detection method, which is characterized in that it comprises:

Acquire take-off parameters of the unmanned aerial vehicle, where the take-off parameters of the unmanned aerial vehicle include: motion state parameters and control command parameters;

Determine the blade installation information of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

Perform corresponding operations according to the blade installation information.
The method according to claim 1, wherein the step of performing a corresponding operation according to the blade installation information comprises at least one of the following:

Send the prompt information corresponding to the installation information to the display device; or

Send corresponding prompt information according to the blade installation information; or

Stop the rotation of the blades of the UAV.
The method according to claim 1, wherein the determining the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle comprises:

According to the take-off parameters of the unmanned aerial vehicle, it is determined that the blade is installed incorrectly.
The method according to claim 3, characterized in that, after determining the blade installation error according to the take-off parameters of the UAV, the determining the blade of the UAV according to the take-off parameters of the UAV The installation information steps also include:

Determine the improperly installed blade according to the take-off parameters of the unmanned aerial vehicle.
The method according to claim 4, wherein after determining the improperly installed blade according to the takeoff parameters of the UAV, the method further comprises:

Send the determined prompt information corresponding to the information of the incorrectly installed blade to the display device; or

According to the determined information of the improperly installed blade, the corresponding prompt message will be sent out.
The method according to claim 1, wherein the motion state parameter comprises at least one of the attitude angle of the unmanned aerial vehicle, the angular velocity of the unmanned aerial vehicle, and the angular acceleration of the unmanned aerial vehicle.
The method according to claim 1, wherein the control command parameter comprises at least one of a motor tension command parameter, an unmanned aerial vehicle angle control command, an unmanned aerial vehicle angular velocity control command, and an unmanned aerial vehicle angular acceleration control command .
The method according to claim 1, wherein the take-off parameters of the UAV further comprise: electric current parameters of the UAV.
The method according to claim 6 or 7, wherein the UAV angular velocity includes a roll angular velocity and a yaw angular velocity; and the UAV angular acceleration includes a yaw angular acceleration.
The method according to claim 9, wherein the roll angular velocity includes the front and rear roll angular velocity and the left and right roll angular velocity.
The method according to claim 4, wherein the motion state parameters include the angular velocity and angular acceleration of the UAV, the angular velocity includes the front and rear roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity, and the The steps of judging the incorrect installation of the blades by the take-off parameters of the human aircraft and determining the incorrect installation of the blades include:

Using the front and back roll angular velocity, the left-right roll angular velocity, and the yaw angular velocity of the unmanned aerial vehicle to determine the installation error of the same side blades of the unmanned aerial vehicle.
The method according to claim 11, wherein the step of using the front and rear roll angular velocity, the left-right roll angular velocity, and the yaw angular velocity of the UAV to determine the installation error of the same-side blades of the UAV comprises:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the front roll state of the unmanned aerial vehicle, it is determined that it is close to the side of the nose of the unmanned aerial vehicle The installation of the first blade and the second blade is wrong;

When the relationship between the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold meets the unmanned aerial vehicle's post-rolling state, it is determined to be far away from the unmanned aerial vehicle nose Wrong installation of the third and fourth blades on one side;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the left rollover state of the unmanned aerial vehicle, it is determined that it is located on the longitudinal axis of the unmanned aerial vehicle The second blade and the third blade on the first side of the direction are installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the right turning state of the unmanned aerial vehicle, it is determined that it is located on the longitudinal axis of the unmanned aerial vehicle The first blade and the fourth blade on the second side of the direction are reversed.
The method according to claim 4, wherein the motion state parameters include the angular velocity and angular acceleration of the UAV, and the angular velocity includes the forward and backward roll angular velocity, the left and right flip angular velocity, the yaw angular velocity, and the yaw angular acceleration. The steps of judging the installation error of the blade according to the take-off parameters of the UAV, and determining the installation error of the blade include:

The front and back roll angular velocity, the left-right roll angular velocity, the yaw angular velocity and the yaw angular acceleration are used to determine the installation error of the blades on the opposite side of the unmanned aerial vehicle.
The method according to claim 13, wherein the step of determining the installation error of the opposite blade by using the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration comprises:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship satisfies the unmanned aerial vehicle heading first One direction rotation state, determining that the two blades located on the first diagonal of the UAV are installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship satisfies the unmanned aerial vehicle heading first In the two-direction rotation state, it is determined that the two blades on the second diagonal of the UAV are installed incorrectly.
The method according to claim 4, wherein the motion state parameters include the angular velocity and angular acceleration of the UAV, and the angular velocity includes the forward and backward roll angular velocity, the left and right flip angular velocity, the yaw angular velocity, and the yaw angular acceleration. The steps of judging the installation error of the blade according to the take-off parameters of the UAV, and determining the installation error of the blade include:

Using the front and back roll angular velocity, left-right roll angular velocity, yaw angular velocity, and yaw angular acceleration of the unmanned aerial vehicle, the installation error of a single blade is determined.
The method according to claim 15, wherein the step of determining the installation error of a single blade by using the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration of the UAV comprises:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship meets the orientation The state of rolling forward and turning to the right side determines that the first blade of the unmanned aerial vehicle is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship meets the orientation The state of rolling forward and turning to the left, it is determined that the second blade of the UAV is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right roll angular velocity and the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are satisfied The state of the human aircraft rolling toward the rear and turning toward the left, and it is determined that the third blade of the unmanned aircraft is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are satisfied The state of the human aircraft rolling toward the rear and turning toward the right determines that the fourth blade of the unmanned aircraft is installed incorrectly.
The method according to claim 4, wherein the motion state parameters include the angular velocity and angular acceleration of the UAV, the angular velocity includes the front and rear roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity, and the control command parameters include Motor pull output command parameters, the UAV takeoff parameters also include ESC current parameters,

The step of judging the installation error of the blade according to the take-off parameters of the unmanned aerial vehicle, and determining the installation error of the blade includes:

Use the UAV's front and rear roll angular velocity, left-right flip angular velocity, yaw angular velocity, motor pull output command parameters and ESC current parameters to determine the installation errors of three or more blades of the UAV.
The method according to claim 17, wherein the step of using the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, the motor pull output command parameter, and the ESC current parameter to determine more than three blade installation errors comprises :

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold meet the specified relationship, and the motor pull force output command parameter is greater than the motor pull force output command When the threshold value and the ESC current parameter are greater than the ESC current parameter threshold value, it is determined that more than three blades of the UAV are installed incorrectly.
The method according to claim 4, wherein the control command parameter includes a motor pull force output command parameter, the UAV takeoff parameter further includes an ESC current parameter and a propeller resistance value, and the control command parameter includes a motor pull force output command parameter. The steps of judging the incorrect installation of the blades by the aircraft take-off parameters and determining the incorrect installation of the blades include:

The electric current parameter and the propeller resistance value of the UAV are used to determine that one or more blades are not installed.
The method according to claim 19, wherein the step of determining that one or more blades are not installed by using the ESC current parameter and the propeller resistance value comprises:

When it is determined that the ESC current parameter corresponding to the motor of one of the propellers is less than the corresponding ESC current parameter threshold, and the propeller resistance value is greater than the corresponding resistance threshold, it is determined that the blade corresponding to the motor of the propeller is not installed.
An unmanned aerial vehicle blade installation detection device, which is characterized in that it comprises:

The acquisition module is used to acquire the take-off parameters of the unmanned aerial vehicle, where the take-off parameters of the unmanned aerial vehicle include: motion state parameters and control command parameters;

A determining module, configured to determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

The execution module is used to execute corresponding operations according to the blade installation information.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 21, wherein the execution module is configured to perform at least one of the following operations:

Send the prompt information corresponding to the installation information to the display device; or

Display the corresponding prompt information according to the blade installation information; or

Stop the rotation of the blades of the UAV.
The device for detecting the installation of blades of an unmanned aerial vehicle according to claim 21, wherein the determining module is configured to perform the following operations:

According to the take-off parameters of the unmanned aerial vehicle, it is determined that the blade is installed incorrectly.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 23, wherein the determining module is further configured to perform the following operation: determining the incorrectly installed blade according to the take-off parameters of the unmanned aerial vehicle.
The device for detecting the installation of blades of an unmanned aerial vehicle according to claim 24, wherein the device further comprises:

The sending module is used to send the prompt information corresponding to the determined information of the incorrectly installed blade to the display device; or

The prompt module is used to send out corresponding prompt information according to the determined information of the improperly installed blade.
The device for detecting the installation of blades of an unmanned aerial vehicle according to claim 21, wherein the motion state parameter includes at least one of the attitude information of the unmanned aerial vehicle, the angular velocity of the unmanned aerial vehicle, and the angular acceleration of the unmanned aerial vehicle.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 21, wherein the control instruction parameters include: motor tension instruction parameters, unmanned aerial vehicle angle control instructions, unmanned aerial vehicle angular velocity control instructions, unmanned aerial vehicle angle At least one of the acceleration control commands.
The device for detecting the installation of blades of an unmanned aerial vehicle according to claim 21, wherein the take-off parameters of the unmanned aerial vehicle further comprise: an electric current parameter of the unmanned aerial vehicle.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 26 or 27, wherein the angular velocity of the unmanned aerial vehicle comprises: a roll angular velocity and a yaw angular velocity; and the angular acceleration of the unmanned aerial vehicle comprises: a yaw angular acceleration .
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 29, wherein the roll angular velocity includes a front-to-back roll angular velocity and a left-to-right roll angular velocity.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 24, wherein the motion state parameters include the angular velocity and angular acceleration of the unmanned aerial vehicle, and the angular velocity includes the front and rear roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity. The step of judging the installation error of the blade according to the take-off parameters of the UAV, and determining the installation error of the blade includes:

Using the front and back roll angular velocity, the left-right roll angular velocity, and the yaw angular velocity of the unmanned aerial vehicle to determine the installation error of the same side blades of the unmanned aerial vehicle.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 31, wherein the unmanned aerial vehicle's forward and backward roll angular velocity, left-right overturn angular velocity, and yaw angular velocity are used to determine the same side propeller of the unmanned aerial vehicle. The steps of Ye installation error include:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the front roll state of the unmanned aerial vehicle, it is determined that it is close to the side of the nose of the unmanned aerial vehicle The installation of the first blade and the second blade is wrong;

When the relationship between the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold meets the unmanned aerial vehicle's post-rolling state, it is determined to be far away from the unmanned aerial vehicle nose Wrong installation of the third and fourth blades on one side;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the left rollover state of the unmanned aerial vehicle, it is determined that it is located on the longitudinal axis of the unmanned aerial vehicle The second blade and the third blade on the first side of the direction are installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left-right roll angular velocity and the left-right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity thresholds satisfy the right turning state of the unmanned aerial vehicle, it is determined that it is located on the longitudinal axis of the unmanned aerial vehicle The first blade and the fourth blade on the second side of the direction are reversed.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 24, wherein the motion state parameters include the angular velocity and angular acceleration of the unmanned aerial vehicle, and the angular velocity includes the front and rear roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity. And yaw angular acceleration, the steps of judging the installation error of the blade according to the take-off parameters of the unmanned aerial vehicle, and determining the installation error of the blade include:

The front and back roll angular velocity, the left-right roll angular velocity, the yaw angular velocity and the yaw angular acceleration are used to determine the installation error of the blades on the opposite side of the unmanned aerial vehicle.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 33, wherein the step of determining the installation error of the opposite blade by using the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity, and the yaw angular acceleration comprises:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship satisfies the unmanned aerial vehicle heading first One direction rotation state, determining that the two blades located on the first diagonal of the UAV are installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship satisfies the unmanned aerial vehicle heading first In the two-direction rotation state, it is determined that the two blades on the second diagonal of the UAV are installed incorrectly.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 24, wherein the motion state parameters include the angular velocity and angular acceleration of the unmanned aerial vehicle, and the angular velocity includes the front and rear roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity. And yaw angular acceleration, the steps of judging the installation error of the blade according to the take-off parameters of the unmanned aerial vehicle, and determining the installation error of the blade include:

Using the front and back roll angular velocity, left-right roll angular velocity, yaw angular velocity, and yaw angular acceleration of the unmanned aerial vehicle, the installation error of a single blade is determined.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 35, wherein the use of the front and rear roll angular velocity, the left-right roll angular velocity, the yaw angular velocity and the yaw angular acceleration of the unmanned aerial vehicle to determine the installation of a single blade The wrong steps include:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship meets the orientation The state of rolling forward and turning to the right side determines that the first blade of the unmanned aerial vehicle is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold, the relationship meets the orientation The state of rolling forward and turning to the left, it is determined that the second blade of the UAV is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the unmanned aerial vehicle, the left and right roll angular velocity and the left and right roll angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are satisfied The state of the human aircraft rolling toward the rear and turning toward the left, and it is determined that the third blade of the unmanned aircraft is installed incorrectly;

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold, the yaw angular acceleration and the yaw angular acceleration threshold are satisfied The state of the human aircraft rolling toward the rear and turning toward the right determines that the fourth blade of the unmanned aircraft is installed incorrectly.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 24, wherein the motion state parameters include the angular velocity and angular acceleration of the unmanned aerial vehicle, and the angular velocity includes the front and rear roll angular velocity, the left-right flip angular velocity, and the yaw angular velocity. , The control command parameters include motor pull force output command parameters, and the UAV takeoff parameters also include ESC current parameters,

The step of judging the installation error of the blade according to the take-off parameters of the unmanned aerial vehicle, and determining the installation error of the blade includes:

Use the UAV's front and rear roll angular velocity, left-right flip angular velocity, yaw angular velocity, motor pull output command parameters and ESC current parameters to determine the installation errors of three or more blades of the UAV.
The unmanned aerial vehicle blade installation detection device according to claim 37, wherein the use of the front and rear roll angular velocity, the left-right flip angular velocity, the yaw angular velocity, the motor pulling force output command parameter, and the ESC current parameter to determine more than three The steps to install the improper blade include:

When the front and rear roll angular velocity and the front and rear roll angular velocity thresholds of the UAV, the left and right flip angular velocity and the left and right flip angular velocity thresholds, the yaw angular velocity and the yaw angular velocity threshold meet the specified relationship, and the motor pull force output command parameter is greater than the motor pull force output command When the threshold value and the ESC current parameter are greater than the ESC current parameter threshold value, it is determined that more than three blades of the UAV are installed incorrectly.
The device for detecting the installation of blades of an unmanned aerial vehicle according to claim 24, wherein the control command parameters include motor pull output command parameters, and the unmanned aerial vehicle take-off parameters further include ESC current parameters and propeller resistance values, The step of judging the installation error of the blade according to the take-off parameters of the unmanned aerial vehicle, and determining the installation error of the blade includes:

The electric current parameter and the propeller resistance value of the UAV are used to determine that one or more blades are not installed.
The device for detecting the installation of a blade of an unmanned aerial vehicle according to claim 39, wherein the step of determining that one or more blades are not installed by using the ESC current parameter and the resistance value of the propeller comprises:

When it is determined that the ESC current parameter corresponding to the motor of one of the propellers is less than the corresponding ESC current parameter threshold, and the propeller resistance value is greater than the corresponding resistance threshold, it is determined that the blade corresponding to the motor of the propeller is not installed.
A computing processing device, characterized in that it comprises:

A memory in which computer-readable codes are stored;

One or more processors, when the computer-readable code is executed by the one or more processors, the computing processing device executes the unmanned aerial vehicle blade according to any one of claims 1-20 Installation detection method.
The computing processing device of claim 41, wherein the computer processing device is a flight controller of an unmanned aerial vehicle.
An unmanned aerial vehicle includes an unmanned aerial vehicle and a control terminal; the unmanned aerial vehicle includes a frame, a flight controller, and a sensing system; the flight controller can interact with the sensing system and the control terminal. Transmitting signals between them, the control terminal can send control signals to the flight controller to control the flight of the unmanned aerial vehicle;

The flight controller is used to perform the following operations:

Acquire take-off parameters of the unmanned aerial vehicle, where the take-off parameters of the unmanned aerial vehicle include: motion state parameters and control command parameters;

Determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

Perform corresponding operations according to the blade installation information.
The unmanned flight system of claim 43, wherein the unmanned flight system further comprises a display device for receiving the control signal transmitted by the flight controller and correspondingly displaying information.
An unmanned aerial vehicle, characterized by comprising: a frame, a flight controller, and a sensing system; the flight controller can transmit signals with the sensing system;

The flight controller is used to perform the following operations:

Acquiring take-off parameters of an unmanned aerial vehicle, the take-off parameters of the unmanned aerial vehicle including the motion state parameters obtained from the sensing system and the control command parameters obtained from the flight controller;

Determine the installation information of the blades of the unmanned aerial vehicle according to the take-off parameters of the unmanned aerial vehicle;

Perform corresponding operations according to the blade installation information.
A computer program product comprising instructions, characterized in that, when the instructions are run on a computer, the computer is caused to execute the method for detecting the installation of an unmanned aerial vehicle blade according to any one of claims 1-20 .
A computer-readable storage medium, characterized by comprising instructions, which when run on a computer, causes the computer to execute the method for detecting the installation of an unmanned aerial vehicle blade according to any one of claims 1-20.