WO2022040882A1

WO2022040882A1 - Propeller anomaly detection method, unmanned aerial vehicle, control terminal, system and medium

Info

Publication number: WO2022040882A1
Application number: PCT/CN2020/110900
Authority: WO
Inventors: 陈旭; 陈鸿滨; 马晨旭
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2022-03-03
Also published as: CN113302128A

Abstract

A propeller anomaly detection method, an unmanned aerial vehicle, a control terminal and a medium. The method comprises: acquiring operation information of when an unmanned aerial vehicle is in a state in which same has not taken off (S101); determining a blade detection result of a propeller according to operation state information and/or vibration state information (S102); and when the blade detection result is that the propeller is in an unbalanced state, outputting corresponding prompt information so as to prompt a user that a blade is anomalous (S103). By means of the present application, the flight safety of an unmanned aerial vehicle is improved.

Description

Propeller anomaly detection method, unmanned aerial vehicle, control terminal, system and medium

technical field

The present application relates to the technical field of unmanned aerial vehicles, and in particular, to a method for detecting abnormality of a propeller, an unmanned aerial vehicle, a control terminal and a medium.

Background technique

The power system of the UAV can provide flight power for the UAV to drive the UAV to fly, so the power system is especially important for the flight of the UAV. The power system includes the blade system and the motor used to drive the blade system. The blade system is a more precise system that has been strictly designed. If multiple blades are unbalanced, it will affect the flight performance and safety of the UAV. However, when users use the drone, they usually ignore the blade system and directly control the flight of the drone. Once the blades are damaged, propelled, broken or not deployed, the drone will roll over. Or flying randomly, the flight safety of the drone cannot be guaranteed.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present application provide a propeller abnormality detection method, an unmanned aerial vehicle, a control terminal and a medium, which aim to improve the flight safety of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle, including:

frame;

a power system, including a motor and a propeller, wherein the propeller includes a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the drone;

a controller, configured to determine whether the propeller is in an unbalanced state according to state information of at least part of the components of the unmanned aerial vehicle when the unmanned aerial vehicle is in a state of not taking off, and the unbalanced state includes the plurality of At least one of the paddles is damaged, or when the plurality of paddles are rotatable, at least one of the plurality of paddles is not deployed;

Wherein, when it is determined that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the propeller is abnormal.

In a second aspect, an embodiment of the present application further provides a method for detecting abnormality of a propeller, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a power system, the power system includes a motor and a propeller, and the propeller includes a plurality of blades , the motor is used to drive the propeller to rotate, so as to provide flying power for the drone, and the method includes:

Acquiring operation information when the UAV is not taking off, wherein the operation information includes at least one of the operation state information of the motor and the vibration state information of the UAV;

Determine the blade detection result of the propeller according to the operating state information of the motor and/or the vibration state information of the UAV;

When the detection result of the blade is that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal.

In a third aspect, an embodiment of the present application further provides a method for detecting abnormality of a propeller, which is applied to a control terminal, where the control terminal is used to communicate with and control the drone, and the method includes:

Obtaining the blade detection result of the propeller sent by the drone, wherein the blade detection result is determined according to the above-mentioned propeller abnormality detection method;

According to the detection result of the blade, the corresponding drone model is displayed in the display device connected with the control terminal to feed back the detection result of the blade of the drone.

In a fourth aspect, an embodiment of the present application further provides an unmanned aerial vehicle, including a power system, the power system includes a motor and a propeller, the propeller includes a plurality of blades, and the motor is used to drive the propeller to rotate, So as to provide flying power for the UAV, the UAV also includes a memory and a processor;

the memory for storing computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

In a fifth aspect, an embodiment of the present application further provides a control terminal, the control terminal is used for communicating with an unmanned aerial vehicle, and used to control the unmanned aerial vehicle, the unmanned aerial vehicle includes a power system, and the unmanned aerial vehicle includes a power system. The power system includes a motor and a propeller, the motor is used to drive the propeller to rotate, so as to provide flight power for the drone, and the control terminal includes a memory and a processor;

the memory for storing computer programs;

Obtain the blade detection result of the propeller sent by the drone;

In a sixth aspect, an embodiment of the present application further provides a control system, the control system includes the above-mentioned unmanned aerial vehicle and the above-mentioned control terminal, wherein the control terminal is communicatively connected to the unmanned aerial vehicle, and uses for controlling the drone.

In a seventh aspect, the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the above-mentioned propeller abnormality The steps of the detection method.

Embodiments of the present application provide a method for detecting abnormality of a propeller, an unmanned aerial vehicle, a control terminal and a medium, which are used to determine whether the propeller of the unmanned aerial vehicle is not based on the state information of at least some components of the unmanned aerial vehicle when the unmanned aerial vehicle is in a state of not taking off. In an unbalanced state, if the propeller of the UAV is in an unbalanced state, the corresponding prompt information will be output to remind the user that the propeller is abnormal, which can accurately determine whether the propeller is abnormal and ensure that the propeller can be in a balanced state when the UAV takes off. , improve the flight safety of the drone, and greatly improve the user experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application;

2 is a schematic diagram of a scene in which the propeller of the UAV is in an unbalanced state in the embodiment of the present application;

3 is a schematic flowchart of steps of a method for detecting abnormality of a propeller provided by an embodiment of the present application;

Fig. 4 is a schematic flowchart of a sub-step of the propeller abnormality detection method in Fig. 3;

5 is a schematic diagram of the relationship between the rotational speed and the current of the motor of the power system in the embodiment of the present application;

Fig. 6 is another sub-step schematic flow chart of the propeller abnormality detection method in Fig. 3;

7 is a schematic flowchart of steps of another propeller abnormality detection method provided by an embodiment of the present application;

8 is a schematic diagram of the connection between the control terminal and the drone in the embodiment of the present application;

9 is a schematic diagram of a scene of a propeller of an unmanned aerial vehicle in an embodiment of the present application;

10 is a schematic diagram of a scene of a drone model displayed by a display device in an embodiment of the present application;

11 is a schematic block diagram of the structure of an unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 12 is a schematic block diagram of the structure of a control terminal provided by an embodiment of the present application;

FIG. 13 is a schematic block diagram of the structure of a control system provided by an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

The power system of the UAV can provide the flight power for the UAV to drive the UAV to fly, so the power system is especially important for the flight of the UAV. Therefore, when the UAV is actually used, the user needs to check the power system. It is mainly to check whether the propeller of the power system is damaged or cannot be fully deployed. However, the user can only simply check the propeller and cannot accurately determine whether the propeller is abnormal. When the user does not check the abnormality of the propeller and uses the drone , it will cause the UAV to roll over or fly randomly, and the flight safety of the UAV cannot be guaranteed.

In order to solve the above problems, the embodiments of the present application provide a propeller abnormality detection method, an unmanned aerial vehicle, a control terminal, and a medium. The propeller abnormality detection method can be applied to a drone, a control terminal, and a A control system composed of a drone and a control terminal is not specifically limited in this application. This solution determines whether the propeller of the UAV is in an unbalanced state through the state information of at least some parts of the UAV when the UAV is not taking off. If the propeller of the UAV is in an unbalanced state, the corresponding output is output. Prompt information to remind the user that the blade is abnormal, can accurately determine whether the propeller is abnormal, ensure that the propeller can be in a balanced state when the drone takes off, improve the flight safety of the drone, and greatly improve the user experience.

Please refer to FIG. 1 , which is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

As shown in FIG. 1 , the UAV 100 includes a frame 110 and a power system 120. The power system 120 includes a motor 121 and a propeller 122. The propeller 122 includes a plurality of blades. The aircraft 100 provides flight power. For example, as shown in FIG. 1 , the propeller 122 includes two blades. In one embodiment, the propeller includes a plurality of blades and a propeller clip, one end of the propeller blade is sleeved on the connecting column of the propeller clip, and in a normal state, the propeller blade is opposite to the propeller. The clip rotates freely, that is, the resistance it receives when it rotates relative to the paddle clip is particularly small; when in an abnormal state, the blade is in a clamped state or cannot be fully unfolded relative to the paddle clip, and cannot be naturally thrown during take-off Open, the resistance it receives when rotating relative to the propeller clip is relatively large. In an abnormal state, multiple blades are in an unbalanced state, which may easily cause the aircraft control system to injure people after abnormal take-off. The situation involving multiple paddles in the embodiments of the present invention is not limited to this, and other solutions involve rotatable among multiple paddles, or one of the paddles can be rotated relative to other structures (for example, the housing of the motor). All fall within the protection scope of the present invention. In one embodiment, the propeller includes a plurality of blades, and the blades are sleeved on a connecting column

Optionally, multiple paddles are fixedly connected, or, multiple paddles are rotatably connected. Wherein, the UAV 100 may have one or more power systems 120, and all the power systems 120 may be of the same type. Alternatively, one or more of the powertrains 120 may be of a different type. The power system 120 may be mounted on the frame 110 of the drone 100 by suitable means, such as by support elements (eg, drive shafts). The power system 120 may be installed in any suitable location on the UAV 100, such as the top end, the lower end, the front end, the rear end, the side, or any combination thereof.

In one embodiment, the power system 120 enables the drone 100 to take off from the ground vertically, or to land vertically on the ground, without any horizontal movement of the drone 100 (eg, without taxiing on a runway). Optionally, the power system 120 may allow the drone 100 to preset positions and/or turn the steering wheel in the air. One or more of the powertrains 120 may be controlled independently of the other powertrains 120 . Alternatively, one or more power systems 120 may be controlled simultaneously. For example, the drone 100 may have multiple horizontally oriented power systems 120 to track the lift and/or push of the target. The horizontally oriented power system 120 may be actuated to provide the ability of the drone 100 to take off vertically, land vertically, and hover.

In one embodiment, one or more of the horizontally oriented power systems 120 may rotate in a clockwise direction, while one or more of the other horizontally oriented power systems may rotate in a counter-clockwise direction. For example, there are as many power systems 120 rotating clockwise as there are power systems 120 rotating counterclockwise. The rotational rate of each horizontal power system 120 can be varied independently to achieve lift and/or push operations caused by each power system to adjust the spatial orientation, velocity and/or acceleration of the UAV 100 (eg, relative to multiple rotation and translation up to three degrees of freedom).

In one embodiment, the UAV 100 may also include a sensing system, which may include one or more sensors to sense the spatial orientation, velocity, and/or acceleration of the UAV 100 (eg, relative to up to three degrees of freedom rotation and translation), angular acceleration, attitude, position (absolute position or relative position), etc. The one or more sensors include GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Optionally, the sensing system can also be used to collect data on the environment in which the UAV is located, such as climatic conditions, potential obstacles to be approached, locations of geographic features, locations of man-made structures, and the like. In addition, the unmanned aerial vehicle 100 may include a tripod, which is a contact piece between the unmanned aerial vehicle 100 and the ground when the unmanned aerial vehicle 100 is landed. When it is stowed), it will be put down when it is landing; it can also be fixedly installed on the UAV 100 and kept in the state of being put down all the time.

In one embodiment, the UAV 100 can communicate with the control terminal, and can realize data interaction between the control terminal and the UAV 100, such as flight control of the UAV 100, control of the load (when the load is When shooting a device, the control terminal can control the shooting device), wherein the control terminal can communicate with the drone 100 and/or the payload, and the communication between the drone 100 and the control terminal can be wireless Direct communication is provided between the machine 101 and the control terminal. This direct communication can occur without any intermediary devices or networks.

In one embodiment, indirect communication may be provided between the drone 100 and the control terminal. Such indirect communication may take place by means of one or more intermediaries or networks. For example, indirect communication may utilize a telecommunications network. Indirect communication may take place by means of one or more routers, communication towers, satellites, or any other intermediary device or network. Examples of types of communication may include, but are not limited to, communication via the Internet, Local Area Network (LAN), Wide Area Network (WAN), Bluetooth, Near Field Communication (NFC) technology, based on technologies such as General Packet Radio Service (GPRS), GSM Enhanced Data GSM Environment (EDGE), 3G, 4G, or Long Term Evolution (LTE) protocols for mobile data protocols, infrared (IR) communication technology, and/or Wi-Fi, and may be wireless, wired, or its combination.

Wherein, the control terminal may include but is not limited to: smart phone/mobile phone, tablet computer, personal digital assistant (PDA), desktop computer, media content player, video game station/system, virtual reality system, augmented reality system, wearable Devices (eg, watches, glasses, gloves, headwear (eg, hats, helmets, virtual reality headsets, augmented reality headsets, head mounted devices (HMDs), headbands), pendants, armbands, leg loops, shoes , vest), gesture recognition device, microphone, any electronic device capable of providing or rendering image data, or any other type of device. The control terminal may be a handheld terminal, and the control terminal may be portable. The control terminal can be carried by a human user. In some cases, the control terminal may be remote from the human user, and the user may use wireless and/or wired communications to control the control terminal.

In one embodiment, the UAV 100 further includes a controller (not shown), which may include a flight controller and/or an electronic The state information of the component when the UAV 100 is not taking off determines whether the propeller is in an unbalanced state, and when it is determined that the propeller is in an unbalanced state, it outputs corresponding prompt information to prompt the user that the blade is abnormal. The UAV 100 is not taking off means that the UAV 100 has not taken off from the ground or other take-off platforms (such as base stations, vehicles), and the landing frame or bottom of the UAV 100 is in contact with the ground or other take-off platforms. Whether the propeller is in an unbalanced state can be accurately determined through the state information of at least some components when the UAV 100 is not taking off, so that when it is determined that the propeller is in an unbalanced state, corresponding prompt information is output to ensure that the propeller is in an unbalanced state when the UAV takes off. It can be in a balanced state, improve the flight safety of the drone, and greatly improve the user experience.

In one embodiment, when the power system starts, that is, when the UAV starts to paddle, the electronic governor collects the speed and current of the motor of the power system at different times, and collects the speed and current of the motor at different times according to the collected speed and current of the motor at different times. current to determine whether the propeller is in an unbalanced state; if the propeller is in a balanced state, no processing is performed, and the drone can work normally; if the propeller is in an unbalanced state, the electronic governor sends a blade abnormality information to the flight controller, After the flight controller receives the abnormal information of the blades, the flight controller controls the motor of the power system to stop rotating within a preset time after the UAV starts to propel, so as to stop the rotation of the propeller and avoid the forced take-off of the UAV. Bomb the aircraft, and when the time for the drone to start the paddle exceeds the preset time, the flight controller ignores the abnormal information of the blades sent by the electronic governor to avoid the lack of flight power during the flight of the drone. The problem of the plane crashing occurs.

In one embodiment, when the power system starts, that is, when the UAV starts to paddle, the electronic governor collects the rotational speed and current of the motor of the power system at different times, and compares the collected rotational speed and current of the motor at different times. The current is sent to the flight controller, and the flight controller determines whether the propeller is in an unbalanced state according to the speed and current of the motor at different times; if the propeller is in a balanced state, no processing is performed, and the drone can work normally; In an unbalanced state, the flight controller controls the motor of the power system to stop rotating within a preset time after the drone starts to propel the propeller, so that the propeller stops rotating, so as to prevent the drone from forcibly taking off and causing the aircraft to explode. When the time for the aircraft to take off the propeller exceeds the preset time, the flight controller ignores the abnormal information of the blades sent by the electronic governor to avoid the problem of the UAV falling due to the lack of flight power during the flight of the UAV.

Wherein, the unbalanced state includes that at least one of the plurality of paddles is damaged, or at least one of the plurality of paddles is not deployed when the plurality of paddles are rotatable. The fact that the blades are not unfolded means that when the power system is started, the motor drives multiple blades to rotate, so that the folded blades can be unfolded, but in some cases, the folded blades are stuck, which will prevent the blades from being fully unfolded. . For example, as shown in FIGS. 1 and 2 , the propeller 122 in FIG. 1 includes two blades, while the propeller 122 in FIG. 2 includes only one blade, and the other blade is broken, so the propeller 122 is in an unbalanced state.

In one embodiment, when it is determined that the propeller is in an unbalanced state, the manner of outputting corresponding prompt information may include: when it is determined that the propeller is in an unbalanced state, the controller controls the LED lights on the UAV 100 to flash in a preset manner. Flashing to remind the user that the blades are abnormal; and/or the controller controls the speaker or buzzer on the drone 100 to emit a sound of abnormal blades to remind the user that the blades are abnormal; and/or communicate with the drone 100 The communication control terminal sends the blade abnormality information, and the control terminal is used to send out corresponding prompt information when receiving the blade abnormality information, so as to prompt the user that the blade is abnormal. The drone 100 may include one or more LED lights, and the preset flashing mode may be set based on the actual situation. For example, one LED light flashes once every 0.5 seconds, or, for example, turns on multiple LED lights every 0.5 seconds. One of the LED lights.

In one embodiment, the controller is further configured to control the power system 120 to make a preset response when it is determined that the propeller is in an unbalanced state. For example, the motor in the power system 120 is controlled to stop rotating, so that the propeller stops rotating, and when it is determined that the propeller is in an unbalanced state, the propeller is stopped, so as to prevent the drone from forcibly taking off and cause the drone to explode, and improve the flight safety of the drone. Greatly improved user experience. For another example, the rotational speed of the motor in the power system 120 is increased for a preset time, thereby increasing the rotational speed of the propeller to generate a larger throwing force, so that the undeployed blades can be unfolded, and the propeller is guaranteed to be in a balanced state, Improve the flight safety of drones and greatly improve the user experience. Wherein, the preset time can be set based on the actual situation, which is not specifically limited in this application, and optionally, the preset time is 5 seconds.

In one embodiment, if the running duration of the motor in the power system 120 is less than the preset running duration, it is determined that the UAV is not taking off; and/or; if the speed of the motor in the power system 120 is less than the preset hovering speed , it is determined that the UAV is not taking off. The preset running duration and the preset hovering speed may be set based on the actual situation, which is not specifically limited in this application. For example, if the preset running time is 5 seconds, within 5 seconds after the motor is started, it can be determined that the drone is not taking off.

In one embodiment, the state information of at least some components of the UAV when the UAV is not taking off may include a plurality of vibration state quantities of the frame 110 and a plurality of operating state quantities of the motors in the power system 120 . At least one item of the vibration state quantity includes the vibration intensity and vibration frequency of the frame, and the operating state quantity includes the current and rotational speed of the motor. For example, when the power system 120 starts up, the inertial measurement unit of the UAV 100 collects the vibration state quantity of the rack 110 at preset time intervals, and when the startup time of the power system 120 reaches the preset running time, the collection of the rack 110 is stopped. The vibration state quantities of the rack 110 are obtained, and multiple vibration state quantities of the rack 110 that have been collected by the inertial measurement unit are acquired. For another example, when the power system 120 is started, start collecting the running state quantities of the motors in the power system 120 at preset time intervals, and stop collecting the motors in the power system 120 when the start-up time of the power system 120 reaches the preset running time. The operating state quantities of the power system 120 are obtained, and multiple operating state quantities of the motors in the power system 120 that have been collected are acquired.

In one embodiment, when the UAV is in the open-loop control stage, when the power system 120 starts up, the inertial measurement unit of the UAV 100 collects the vibration state quantities of the rack 110 at different times, and measures the vibration state according to the inertial measurement unit. The vibration state quantity of the frame 110 at different times collected by the unit determines whether the propeller is in an unbalanced state. Among them, when the UAV is in the open-loop control stage, the controller of the UAV will not adjust the attitude of the UAV according to the data of the inertial measurement unit. Therefore, the detection accuracy of the unbalanced state of the propeller can be improved. For example, in the open-loop control stage, when the vibration frequency of the frame 110 is greater than a preset threshold, it can be determined that the blades of the propeller are unbalanced; or, in the open-loop control stage, when the frame 110 is within a preset time During continuous vibration, it can be determined that the blades of the propeller are unbalanced; or, in the open-loop control stage, when the vibration of the frame 110 changes periodically within a preset time, it can be determined that the blades of the propeller are unbalanced. In one embodiment, the controller is further configured to determine, according to a plurality of operating state quantities of the motors in the power system 120, the positive abnormal distribution of the operating state quantities within the preset time period of the UAV 100; according to the operating state quantities When the UAV 100 is in a positive abnormal distribution within a preset time period, it is determined whether the propeller is in an unbalanced state. For example, the preset time period is the time period between the start time of the power system 120 and the start time of 3 seconds.

In one embodiment, count the first number of operating state quantities that are within a range of an abnormal first preset operating state quantity among the plurality of operating state quantities; count the second preset operating state that is normal among the plurality of operating state quantities The second quantity of the operating state quantity within the range of the quantity; according to the total quantity, the first quantity and the second quantity of the operating state quantity, determine the positive abnormal distribution of the operating state quantity when the UAV 100 is in the preset time period, that is, determine The ratio of the first quantity to the total quantity and the ratio of the second quantity to the total quantity are used to obtain the positive abnormal distribution of the operating state quantity when the UAV 100 is in the preset time period.

In one embodiment, if the ratio of the first quantity to the total quantity is greater than the first preset ratio, and/or the ratio of the second quantity to the total quantity is smaller than the second preset ratio, it is determined that the propeller is in an unbalanced state, and if If the ratio of the first quantity to the total quantity is less than or equal to the first preset ratio, and the ratio of the second quantity to the total quantity is greater than or equal to the second preset ratio, it is determined that the propeller is in a balanced state. The first preset ratio is greater than the second preset ratio, the sum of the first preset ratio and the second preset ratio is 1, and the first preset ratio and the second preset ratio can be set based on the actual situation. This is not specifically limited, for example, the first preset ratio is 70%, and the second preset ratio is 30%.

In one embodiment, the controller is further configured to determine, according to a plurality of vibration state quantities of the rack 110, the positive abnormal distribution of the vibration state quantities when the drone 100 is in a preset time period; The machine 100 is in a positive abnormal distribution within a preset time period, and it is determined whether the propeller is in an unbalanced state. For example, the preset time period is the time period between the activation time of the power system 120 and the activation time of 4 seconds.

In one embodiment, count the third number of operating state quantities that are within the range of an abnormal first preset vibration state quantity among the plurality of vibration state quantities; count the second preset vibration state that is normal among the plurality of vibration state quantities The fourth quantity of the operating state quantity within the range of the quantity; according to the total quantity, the third quantity and the fourth quantity of the vibration state quantity, determine the positive abnormal distribution of the vibration state quantity within the preset time period of the UAV 100, that is, determine The ratio of the third quantity to the total quantity and the ratio of the fourth quantity to the total quantity are obtained to obtain the positive abnormal distribution of the vibration state quantity within the preset time period of the drone 100 .

It can be understood that the abnormal first preset vibration state quantity range is determined according to the vibration state quantity of the frame 110 collected when the propeller is in an unbalanced state, and the normal second pre-vibration state quantity range is determined according to the It is determined by the vibration state quantity of the frame 110 collected when the propeller is in a balanced state.

In one embodiment, if the ratio of the third quantity to the total quantity is greater than the first preset ratio, and/or the ratio of the fourth quantity to the total quantity is smaller than the second preset ratio, it is determined that the propeller is in an unbalanced state, and if The ratio of the third quantity to the total quantity is less than or equal to the first preset ratio, and the ratio of the fourth quantity to the total quantity is greater than or equal to the second preset ratio, then it is determined that the propeller is in a balanced state. The first preset ratio is greater than the second preset ratio, the sum of the first preset ratio and the second preset ratio is 1, and the first preset ratio and the second preset ratio can be set based on the actual situation. This is not specifically limited, for example, the first preset ratio is 70%, and the second preset ratio is 30%.

In one embodiment, according to a plurality of operating state quantities, determine the first positive abnormal distribution of the operating state quantities in the UAV 100 within a preset time period; 100 is in the second positive abnormal distribution within the preset time period; according to the first positive abnormal distribution and the second positive abnormal distribution, it is determined whether the propeller is in an unbalanced state. Through the multiple vibration state quantities of the frame and the multiple operating state quantities of the motor, it can be more accurately determined whether the propeller is in an unbalanced state, which can further ensure that the propeller can be in a balanced state when the UAV takes off, and improve the performance of the UAV. Flight safety greatly improves the user experience.

In one embodiment, if the first positive abnormal distribution satisfies the first preset positive abnormal distribution, and the second positive abnormal distribution satisfies the second preset positive abnormal distribution, it is determined that the propeller is in an unbalanced state; and if the first positive abnormal distribution If the distribution does not satisfy the first predetermined positive abnormal distribution, and/or the second positive abnormal distribution does not satisfy the second predetermined positive abnormal distribution, it is determined that the propeller is in a balanced state. The first preset positive abnormal distribution includes that the ratio of the first quantity to the total quantity is greater than the first preset ratio, and/or the ratio of the second quantity to the total quantity is smaller than the second preset ratio, and the second preset positive abnormal distribution It includes that the ratio of the third quantity to the total quantity is greater than the first preset ratio, and/or the ratio of the fourth quantity to the total quantity is smaller than the second preset ratio.

Please refer to FIG. 3 , which is a schematic flowchart of steps of a method for detecting abnormality of a propeller provided by an embodiment of the present application. The propeller anomaly detection method can be applied to a UAV, the UAV includes a power system, the power system includes a motor and a propeller, the propeller includes a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the UAV. UAVs include rotary-wing UAVs, such as quad-rotor UAVs, hexa-rotor UAVs, octa-rotor UAVs, fixed-wing UAVs, or both rotary-wing and fixed-wing UAVs. The combination is not limited here.

As shown in FIG. 3 , the method for detecting abnormality of the propeller includes steps S101 to S103.

S101. Acquire operation information when the UAV is not taking off, where the operation information includes at least one of operation state information of the motor and vibration state information of the UAV.

The operating state information of the motor in the power system of the UAV includes multiple operating state quantities of the motor. The operating state quantities include the rotational speed and current of the motor. The UAV also includes a frame and an inertial measurement unit. The vibration state information includes multiple vibration state quantities of the rack collected by the inertial measurement unit, and the vibration state quantities include the vibration intensity and vibration frequency of the rack.

In one embodiment, if the running duration of the motor in the power system of the drone is less than the preset running duration, it is determined that the drone is not taking off; and/or, if the motor in the power system of the drone has a running duration If the rotation speed is less than the preset hovering rotation speed, it is determined that the drone is not taking off. The preset running duration and the preset hovering speed may be set based on actual conditions, which are not specifically limited in this embodiment of the present application.

In one embodiment, the method of acquiring the operation information of the unmanned aerial vehicle when the UAV is not taking off may be: when the power system is started, start to collect the running state quantity of the motor in the power system at preset time intervals, when the power system When the start-up time reaches the preset running time, the collection of the running state quantities of the motors in the power system is stopped, and the collected multiple running state quantities of the motors in the power system are obtained. And/or when the power system of the drone is started, the vibration state quantity of the rack is collected by the inertial measurement unit of the drone at preset time intervals, and when the start-up time of the power system reaches the preset running time, the collecting machine is stopped. The vibration state quantity of the frame is obtained, and multiple vibration state quantities of the frame that have been collected by the inertial measurement unit are obtained. The preset time can be set based on the actual situation, for example, the preset time is 0.5 seconds.

S102. Determine the blade detection result of the propeller according to the operating state information of the motor and/or the vibration state information of the drone.

After obtaining the operation information when the UAV is not taking off, the detection result of the propeller blades can be determined according to the operation state information of the motor in the operation information, or the vibration of the UAV in the operation information can be determined. The state information is used to determine the detection result of the propeller blade, and the detection result of the propeller blade can also be determined according to the operation state information of the motor and the vibration state information of the UAV in the operation information.

Wherein, the blade detection result of the propeller includes that the propeller is in a balanced state and the propeller is in an unbalanced state. At least one of the plurality of blades is not deployed. As shown in FIGS. 1 and 2 , the propeller 122 in FIG. 1 includes two blades, and the propeller 122 is in a balanced state, while the propeller 122 in FIG. 2 only includes one blade, so the propeller 122 is in an unbalanced state.

In one embodiment, as shown in FIG. 4 , step S102 may include sub-steps S1021 to S1022.

S1021. Determine, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period.

For example, the preset time period is the time period between the start time of the power system 120 and the start time of 3 seconds.

In one embodiment, count the first number of operating state quantities that are within a range of an abnormal first preset operating state quantity among the plurality of operating state quantities; count the second preset operating state that is normal among the plurality of operating state quantities The second quantity of the operating state quantity within the range of the quantity; according to the total quantity, the first quantity and the second quantity of the operating state quantity, determine the positive abnormal distribution of the operating state quantity within the preset time period of the UAV, that is, determine the first quantity of the operating state quantity. The ratio of the first quantity to the total quantity and the ratio of the second quantity to the total quantity are obtained to obtain the positive abnormal distribution of the operating state quantity in the preset time period of the UAV. Wherein, the first preset operating state quantity range and the second preset operating state quantity range are determined according to the decision surface of the operating state quantity. As shown in FIG. 5 , the dotted line in FIG. 5 is the decision surface of the operating state quantity, the lower area of the decision surface includes the first preset operating state quantity range, and the upper area of the decision surface includes the second preset operating state quantity range .

S1022. Determine a blade detection result of the propeller according to the positive abnormal distribution of the operating state quantity within a preset time period.

If the ratio of the first quantity to the total quantity is greater than the first preset ratio, and/or the ratio of the second quantity to the total quantity is smaller than the second preset ratio, it is determined that the blade detection result of the propeller is that the propeller is in an unbalanced state, and If the ratio of the first quantity to the total quantity is less than or equal to the first preset ratio, and the ratio of the second quantity to the total quantity is greater than or equal to the second preset ratio, it is determined that the propeller blade detection result is that the propeller is in a balanced state. The first preset ratio is greater than the second preset ratio, the sum of the first preset ratio and the second preset ratio is 1, and the first preset ratio and the second preset ratio can be set based on the actual situation. This is not specifically limited, for example, the first preset ratio is 70%, and the second preset ratio is 30%.

In one embodiment, as shown in FIG. 6 , step S102 may include sub-steps S1023 to S1024.

S1023. According to the plurality of operating state quantities, determine the positive abnormal distribution of the operating state quantities within a preset time period.

For example, the preset time period is the time period between the start time of the power system 120 and the start time of 5 seconds.

In one embodiment, count the third number of operating state quantities that are within the range of an abnormal first preset vibration state quantity among the plurality of vibration state quantities; count the second preset vibration state that is normal among the plurality of vibration state quantities According to the total number, the third number and the fourth number of vibration state quantities, determine the positive abnormal distribution of the vibration state quantities within the preset time period of the drone, that is, determine the first The ratio of the third quantity to the total quantity and the ratio of the fourth quantity to the total quantity are obtained to obtain the positive abnormal distribution of the vibration state quantity within the preset time period of the drone 100 .

It can be understood that the abnormal first preset vibration state quantity range is determined according to the vibration state quantity of the frame collected when the propeller is in an unbalanced state, and the normal second pre-vibration state quantity range is based on the propeller in the unbalanced state. It is determined by the vibration state quantity of the rack collected when it is in a balanced state.

S1024. Determine a blade detection result of the propeller according to the positive abnormal distribution of the operating state quantity within a preset time period.

If the ratio of the third quantity to the total quantity is greater than the first preset ratio, and/or the ratio of the fourth quantity to the total quantity is smaller than the second preset ratio, it is determined that the blade detection result of the propeller is that the propeller is in an unbalanced state, and If the ratio of the third quantity to the total quantity is less than or equal to the first preset ratio, and the ratio of the fourth quantity to the total quantity is greater than or equal to the second preset ratio, it is determined that the propeller blade detection result is that the propeller is in a balanced state. The first preset ratio is greater than the second preset ratio, the sum of the first preset ratio and the second preset ratio is 1, and the first preset ratio and the second preset ratio can be set based on the actual situation. This is not specifically limited, for example, the first preset ratio is 70%, and the second preset ratio is 30%.

In one embodiment, according to a plurality of operating state quantities, determine the first positive abnormal distribution of the operating state quantities when the drone is in a preset time period; The second positive abnormal distribution within a preset time period; the blade detection result of the propeller is determined according to the first positive abnormal distribution and the second positive abnormal distribution. Through the multiple vibration state quantities of the frame and the multiple operating state quantities of the motor, it can be more accurately determined whether the propeller is in an unbalanced state, which can further ensure that the propeller can be in a balanced state when the UAV takes off, and improve the performance of the UAV. Flight safety greatly improves the user experience.

S103. When the blade detection result is that the propeller is in an unbalanced state, output corresponding prompt information to prompt the user that the blade is abnormal.

When it is determined that the blade detection result is that the propeller is in an unbalanced state, the corresponding prompt information is output to remind the user that the blade is abnormal. Specifically, it may include: controlling the LED lights on the drone to flash according to a preset flashing pattern to alert the user that the blades are abnormal; and/or controlling the speaker or buzzer on the drone to emit a sound of abnormal blades to remind the user that the blades are abnormal Blade abnormality; and/or sending blade abnormality information to the control terminal that communicates with the UAV 100, and the control terminal is used to issue a corresponding prompt message when receiving the blade abnormality information to remind the user that the blade is abnormal. The drone 100 may include one or more LED lights, and the preset flashing mode may be set based on the actual situation. For example, one LED light flashes once every 0.5 seconds, or, for example, turns on multiple LED lights every 0.5 seconds. One of the LED lights.

In one embodiment, when it is determined that the blade detection result is that the propeller is in an unbalanced state, the rotation speed of the motor is increased to a preset rotation speed for a preset period of time. The preset rotational speed and the preset duration may be set based on actual conditions, which are not specifically limited in this embodiment of the present application, for example, the preset duration is 5 seconds. By increasing the rotational speed of the motor and continuing for a preset time, the rotation speed of the propeller is increased, and a greater throwing force is generated, so that the undeployed blades can be unfolded, ensuring that the propeller is in a balanced state, and improving the flight of the drone Security, greatly improving the user experience.

In one embodiment, when it is determined that the blade detection result is that the propeller is in an unbalanced state, the propeller is controlled to stop rotating. Avoid forcibly taking off the drone and causing it to explode.

In one embodiment, after the propeller is controlled to stop rotating, the blade abnormality information is sent to the control terminal that communicates with the drone, so that the control terminal can output the blade abnormality information to prompt the user that the blade is abnormal. The control terminal can display the corresponding drone model in the display device connected to the control terminal according to the detection result of the blade, so as to feed back the detection result of the blade of the drone, and the display device can be a display device inside the control terminal For example, the control terminal is a smart phone, and may also be an external display device of the control terminal.

The method for detecting abnormality of the propeller provided by the above-mentioned embodiment, by acquiring the running state information of the motor and/or the vibration state information of the drone when the drone is not taking off, and according to the running state information of the motor and/or the drone. The vibration status information of the propeller is determined, and the detection result of the propeller blade is determined, and then when the detection result of the blade is determined to be that the propeller is in an unbalanced state, the corresponding prompt information is output to remind the user that the blade is abnormal, which can ensure that the propeller can be used when the drone takes off. In a balanced state, the flight safety of the drone is improved, and the user experience is greatly improved.

Please refer to FIG. 7 . FIG. 7 is a schematic flowchart of steps of another propeller abnormality detection method provided by an embodiment of the present application. The propeller anomaly detection method is applied to a control terminal, the control terminal is used for communicating with the drone, and for controlling the drone, the drone includes a power system, the power system includes a motor and a propeller, and the motor is used to drive the propeller to rotate , so as to provide flight power for the UAV.

As shown in FIG. 7 , the method for detecting abnormality of the propeller includes steps S201 to S202.

S201. Obtain the blade detection result of the propeller sent by the drone.

After obtaining the blade detection result of the propeller, the drone sends the blade detection result to the control terminal, and the control terminal obtains the blade detection result of the propeller sent by the drone. The specific detection method of the detection result of the blade of the propeller may refer to the foregoing embodiment, which is not specifically limited in this embodiment. As shown in FIG. 8 , the drone 100 is communicatively connected to the control terminal 200 , and the control terminal 200 is connected to the display device 210 , so that the control terminal 200 can output the data sent by the drone 100 on the display device 210 for user viewing.

S202. According to the detection result of the blade, display the corresponding drone model in the display device connected to the control terminal, so as to feed back the detection result of the blade of the drone.

The UAV model includes a propeller, the propeller includes a plurality of blades, the operating state of the propeller on the UAV model is determined according to the detection result of the propeller, and the operating state of the propeller includes a rotating state and a static state. If the blade detection result is that the propeller is in an unbalanced state, the corresponding propeller on the UAV model is in a static state. If the blade detection result is that the propeller is in a balanced state, the propellers of the UAV model are in a rotating state.

For example, as shown in FIG. 9, the drone includes propeller 10, propeller 20, propeller 30 and propeller 40, the drone model includes propeller 1, propeller 2, propeller 3 and propeller 4, and propeller 10, propeller 20, propeller 30 and propeller 40 respectively correspond to propeller 1, propeller 2, propeller 3 and propeller 4 in the UAV model, if the blade detection result is that propeller 10 is in an unbalanced state, and propeller 20, propeller 30 and propeller 40 are in a balanced state, then As shown in Figure 10, propeller 1 on the UAV model is in a stationary state, while propeller 2, propeller 3 and propeller 4 are in a rotating state.

In one embodiment, if the blade detection result is that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to feedback that the propeller is in an unbalanced state. By displaying the preset propeller icon, it will feedback that the propeller is in an unbalanced state, which is convenient for the user to know that the propeller is in an unbalanced state, so that the user can check or replace the propeller, which can ensure the safety of subsequent drone flights.

In one embodiment, the preset paddle icon is controlled to flash according to a preset flashing frequency; or the color of the preset paddle icon is controlled to cyclically switch between the first preset color and the second preset color. The preset flickering frequency, the first preset color, and the second preset color may be set based on actual conditions, which are not specifically limited in this embodiment of the present application. For example, the preset flickering frequency is a preset flickering frequency every 1 second. Set the paddle icon, the first preset color is red, and the second preset color is orange. By controlling the preset propeller icon to flash or change color, it is convenient for the user to know that the propeller is in an unbalanced state, so that the user can check or replace the propeller, which can ensure the safety of the subsequent drone flight.

The method for detecting abnormality of the propeller provided by the above embodiment obtains the blade detection result of the propeller sent by the drone, and according to the blade detection result, displays the corresponding drone model in the display device connected with the control terminal to give feedback. The detection results of the propellers of the UAV are convenient for the user to know that the propeller is in an unbalanced state in time, so that the user can check or replace the propeller, which can ensure the safety of the subsequent UAV flight.

Please refer to FIG. 11. FIG. 11 is a schematic structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

The UAV includes a power system, the power system includes a motor and a propeller, the propeller includes a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the UAV 300. As shown in FIG. 11 , the UAV 300 also It includes a processor 301 and a memory 302. The processor 301 and the memory 302 are connected through a bus 303, and the bus 303 is, for example, an I2C (Inter-integrated Circuit) bus. Among them, the UAV can be a rotary-wing UAV, such as a quad-rotor UAV, a hexa-rotor UAV, an octa-rotor UAV, or a fixed-wing UAV, or a rotary-wing and fixed-wing unmanned aerial vehicle. The combination of man and machine is not limited here.

Specifically, the processor 301 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 301 is used for running the computer program stored in the memory 302, and implements the following steps when executing the computer program:

The unbalanced state includes that at least one of the plurality of paddles is damaged, or when the plurality of paddles are rotatable, at least one of the plurality of paddles is not deployed.

In one embodiment, the processor is further configured to implement the following steps:

If the running duration of the motor is less than the preset running duration, it is determined that the UAV is not taking off; and/or;

If the rotational speed of the motor is lower than the preset hovering rotational speed, it is determined that the UAV is not taking off.

In an embodiment, the operating state information of the motor includes a plurality of operating state quantities of the motor, and the operating state quantities include the rotational speed and current of the motor, and the determination is based on the operating state information of the motor. The blade detection results of the propeller include:

determining, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period;

The detection result of the blade of the propeller is determined according to the positive abnormal distribution of the operating state quantity within the preset time period.

In an embodiment, the determining, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period includes:

Counting the first number of operating state quantities within the range of the abnormal first preset operating state quantities among the plurality of operating state quantities;

Counting the second number of operating state quantities within the normal second preset operating state quantity range among the plurality of operating state quantities;

According to the total quantity, the first quantity and the second quantity of the operating state quantity, the positive abnormal distribution of the operating state quantity within a preset time period is determined.

In one embodiment, determining the detection result of the blade of the propeller according to the positive abnormal distribution of the operating state quantity within a preset time period includes:

If the ratio of the first quantity to the total quantity is greater than a first preset ratio, and/or the ratio of the second quantity to the total quantity is smaller than a second preset ratio, determine the blades of the propeller The detection result is that the propeller is in an unbalanced state.

In one embodiment, the unmanned aerial vehicle further includes a frame and an inertial measurement unit, and the vibration state information of the unmanned aerial vehicle includes a plurality of vibration state quantities of the frame collected by the inertial measurement unit. The vibration state quantity includes the vibration intensity and vibration frequency of the frame, and the detection result of the blade of the propeller is determined according to the vibration state information of the drone, including:

According to the plurality of vibration state quantities, determine the positive abnormal distribution of the vibration state quantities within a preset time period;

According to the positive abnormal distribution of the vibration state quantity within a preset time period, the detection result of the blade of the propeller is determined.

In one embodiment, the determining, according to the plurality of vibration state quantities, the positive abnormal distribution of the vibration state quantities within a preset time period includes:

Counting the third number of operating state quantities within the range of the abnormal first preset vibration state quantities among the plurality of vibration state quantities;

Counting the fourth number of operating state quantities within the normal second preset vibration state quantity range among the plurality of vibration state quantities;

According to the total quantity, the third quantity and the fourth quantity of the vibration state quantity, the positive abnormal distribution of the vibration state quantity within the preset time period is determined.

In one embodiment, the UAV further includes a frame and an inertial measurement unit, and the operating state information of the motor includes a plurality of operating state quantities of the motor and the frame collected by the inertial measurement unit. A plurality of vibration state quantities of The vibration state information of the UAV is determined, and the detection result of the blade of the propeller is determined, including:

determining, according to the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period;

determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantities within a preset time period;

According to the first positive abnormality distribution and the second positive abnormality distribution, the blade detection result of the propeller is determined.

In one embodiment, after determining the detection result of the blades of the propeller according to the operating state information of the motor and/or the vibration state information of the UAV, the method further includes:

When the detection result of the blade is that the propeller is in an unbalanced state, the rotation speed of the motor is increased to a preset rotation speed for a preset period of time.

When the detection result of the blade is that the propeller is in an unbalanced state, the propeller is controlled to stop rotating.

In one embodiment, after controlling the propeller to stop rotating, it further includes:

The blade abnormality information is sent to the control terminal that communicates with the drone, so that the control terminal can output the blade abnormality information to prompt the user that the blade is abnormal.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the UAV described above may refer to the corresponding process in the foregoing embodiment of the propeller abnormality detection method, here No longer.

The embodiment of the present application also provides a control terminal, which is used for communicating with an unmanned aerial vehicle and used to control the unmanned aerial vehicle. The unmanned aerial vehicle includes a power system, and the power system includes a motor and a propeller, and the motor is used to drive the The propeller rotates to provide flight power for the drone. Please refer to FIG. 12. FIG. 12 is a schematic structural block diagram of a control terminal provided by an embodiment of the present application.

As shown in FIG. 12 , the control terminal 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected through a bus 403, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 401 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.

Wherein, the processor 401 is used for running the computer program stored in the memory 402, and implements the following steps when executing the computer program:

Obtain the blade detection result of the propeller sent by the drone;

In one embodiment, the UAV model includes a propeller, the propeller includes a plurality of blades, and the operating state of the propeller on the UAV model is determined according to the detection result of the blades.

In one embodiment, the operating state of the propeller includes a rotating state and a static state. If the blade detection result is that the propeller is in an unbalanced state, the corresponding propeller on the UAV model is in a static state. If the blade detection result is that the propeller is in a balanced state, then the propellers of the UAV model are all in a rotating state.

If the detection result of the blade is that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to feedback that the propeller is in an unbalanced state.

Control the preset blade icon to flash according to the preset flashing frequency; or

The color of the preset paddle icon is controlled to be cyclically switched between the first preset color and the second preset color.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the control terminal described above may refer to the corresponding process in the foregoing embodiments of the propeller abnormality detection method. Repeat.

Please refer to FIG. 13. FIG. 13 is a schematic structural block diagram of a control system provided by an embodiment of the present application. As shown in FIG. 13 , the control system 500 includes a drone 510 and a control terminal 520 , and the control terminal 520 is connected to the drone 510 in communication for controlling the drone 510 .

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the control system described above, reference may be made to the corresponding process in the foregoing embodiments of the propeller abnormality detection method. Repeat.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. The steps of the propeller anomaly detection method.

The computer-readable storage medium may be the control terminal or the internal storage unit of the drone described in any of the foregoing embodiments, for example, the hard disk or memory of the control terminal or the drone. The computer-readable storage medium may also be an external storage device of the control terminal or the drone, such as a plug-in hard disk equipped on the control terminal or the drone, a smart memory card (Smart Media Card, SMC), Secure Digital (SD) card, flash memory card (Flash Card), etc.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

An unmanned aerial vehicle, characterized in that it includes:

frame;

a power system, including a motor and a propeller, wherein the propeller includes a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the drone;

a controller, configured to determine whether the propeller is in an unbalanced state according to state information of at least part of the components of the unmanned aerial vehicle when the unmanned aerial vehicle is in a state of not taking off, and the unbalanced state includes the plurality of At least one of the paddles is damaged, or when the plurality of paddles are rotatable, at least one of the plurality of paddles is not deployed;

Wherein, when it is determined that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the propeller is abnormal.
The drone according to claim 1, wherein the plurality of paddles are fixedly connected, or, the plurality of paddles are rotatably connected;

The controller includes a flight controller and/or an electronic governor.
The drone according to claim 1, wherein the controller is further configured to control the power system to make a preset response when it is determined that the propeller is in an unbalanced state.
The drone according to claim 1, wherein the controller is further configured to send blade abnormality information to a control terminal communicating with the drone when it is determined that the propeller is in an unbalanced state;

The control terminal is configured to send out corresponding prompt information when receiving the abnormality information of the blade, so as to prompt the user that the blade is abnormal.
The drone according to claim 1, wherein the state information includes a plurality of vibration state quantities of the frame, the vibration state quantities including the vibration intensity and vibration frequency of the frame, and the Controllers are also used to:

According to the plurality of vibration state quantities, determine the positive abnormal distribution of the vibration state quantities within a preset time period;

Whether the propeller is in an unbalanced state is determined according to the positive abnormal distribution of the vibration state quantity within a preset time period.
The drone according to claim 1, wherein the state information includes a plurality of operating state quantities of the motor, and the operating state quantities include the rotational speed and current of the motor, and the controller further uses At:

determining, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period;

Whether the propeller is in an unbalanced state is determined according to the positive abnormal distribution of the operating state quantity within a preset time period.
The unmanned aerial vehicle according to claim 1, wherein the state information includes a plurality of vibration state quantities of the frame and a plurality of operating state quantities of the motor, and the vibration state quantities include vibration intensity and Vibration frequency, the operating state quantity includes the rotational speed and current of the motor, and the controller is also used for:

determining, according to the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period;

determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantities within a preset time period;

According to the first positive abnormality distribution and the second positive abnormality distribution, it is determined whether the propeller is in an unbalanced state.
A propeller anomaly detection method, characterized in that it is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a power system, the power system includes a motor and a propeller, the propeller includes a plurality of blades, and the motor is used for driving The propeller is rotated to provide flight power for the drone, and the method includes:

Acquiring operation information when the UAV is not taking off, wherein the operation information includes at least one of the operation state information of the motor and the vibration state information of the UAV;

Determine the blade detection result of the propeller according to the operating state information of the motor and/or the vibration state information of the UAV;

When the detection result of the blade is that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal.
The method for detecting abnormality of a propeller according to claim 8, wherein the unbalanced state comprises that at least one of the plurality of propellers is damaged, or when the plurality of propellers are rotatable, At least one of the plurality of blades is not deployed.
The method for detecting abnormality of a propeller according to claim 8, wherein the method further comprises:

If the running duration of the motor is less than the preset running duration, it is determined that the UAV is not taking off; and/or;

If the rotational speed of the motor is lower than the preset hovering rotational speed, it is determined that the UAV is not taking off.
The method for detecting abnormality of a propeller according to claim 8, wherein the operating state information of the motor includes a plurality of operating state quantities of the motor, and the operating state quantities include the rotational speed and current of the motor, and the Determine the blade detection result of the propeller according to the operating state information of the motor, including:

determining, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period;

The detection result of the blade of the propeller is determined according to the positive abnormal distribution of the operating state quantity within the preset time period.
The method for detecting abnormality of a propeller according to claim 11, wherein the determining, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period comprises:

Counting the first number of operating state quantities within the range of the abnormal first preset operating state quantities among the plurality of operating state quantities;

Counting the second number of operating state quantities within the normal second preset operating state quantity range among the plurality of operating state quantities;

According to the total quantity, the first quantity and the second quantity of the operating state quantity, the positive abnormal distribution of the operating state quantity within a preset time period is determined.
The method for detecting abnormality of a propeller according to claim 12, wherein the determining the detection result of the blade of the propeller according to the positive abnormality distribution of the operating state quantity within a preset time period comprises:

If the ratio of the first quantity to the total quantity is greater than a first preset ratio, and/or the ratio of the second quantity to the total quantity is smaller than a second preset ratio, determine the blades of the propeller The detection result is that the propeller is in an unbalanced state.
The method for detecting abnormality of a propeller according to claim 8, wherein the unmanned aerial vehicle further comprises a frame and an inertial measurement unit, and the vibration state information of the unmanned aerial vehicle comprises the A plurality of vibration state quantities of the frame, the vibration state quantities include the vibration intensity and vibration frequency of the frame, and the detection results of the blades of the propeller are determined according to the vibration state information of the drone, including :

According to the plurality of vibration state quantities, determine the positive abnormal distribution of the vibration state quantities within a preset time period;

According to the positive abnormal distribution of the vibration state quantity within a preset time period, the detection result of the blade of the propeller is determined.
The method for detecting abnormality of a propeller according to claim 14, wherein the determining, according to the plurality of vibration state quantities, the positive abnormal distribution of the vibration state quantities within a preset time period, comprising:

Counting the third number of operating state quantities within the range of the abnormal first preset vibration state quantities among the plurality of vibration state quantities;

Counting the fourth number of operating state quantities within the normal second preset vibration state quantity range among the plurality of vibration state quantities;

According to the total quantity, the third quantity and the fourth quantity of the vibration state quantity, the positive abnormal distribution of the vibration state quantity within the preset time period is determined.
The method for detecting abnormality of a propeller according to claim 8, wherein the UAV further comprises a frame and an inertial measurement unit, and the operating state information of the motor includes a plurality of operating state quantities of the motor and the The multiple vibration state quantities of the rack collected by the inertial measurement unit, the operating state quantities include the rotational speed and current of the motor, the vibration state quantities include the vibration intensity and vibration frequency of the rack, and the According to the operating state information of the motor and the vibration state information of the UAV, determine the blade detection result of the propeller, including:

determining, according to the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period;

determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantities within a preset time period;

According to the first positive abnormality distribution and the second positive abnormality distribution, the blade detection result of the propeller is determined.
The method for detecting abnormality of the propeller according to any one of claims 8-16, characterized in that, according to the operating state information of the motor and/or the vibration state information of the unmanned aerial vehicle, determining the After the blade test results, it also includes:

When the detection result of the blade is that the propeller is in an unbalanced state, the rotation speed of the motor is increased to a preset rotation speed for a preset period of time.
The method for detecting abnormality of a propeller according to any one of claims 8-16, characterized in that, according to the operating state information of the motor and/or the vibration state information of the unmanned aerial vehicle, the propeller of the propeller is determined. After the leaf test results, also include:

When the detection result of the blade is that the propeller is in an unbalanced state, the propeller is controlled to stop rotating.
The method for detecting abnormality of a propeller according to claim 18, wherein after the controlling the propeller to stop rotating, the method further comprises:

The blade abnormality information is sent to the control terminal that communicates with the drone, so that the control terminal can output the blade abnormality information to prompt the user that the blade is abnormal.
A propeller anomaly detection method, characterized in that it is applied to a control terminal, and the control terminal is used for communicating with an unmanned aerial vehicle and used to control the unmanned aerial vehicle, the method comprising:

Obtain the blade detection result of the propeller sent by the drone, wherein the blade detection result is determined according to the abnormality detection method of the propeller according to any one of claims 8-19;

According to the detection result of the blade, the corresponding drone model is displayed in the display device connected with the control terminal to feed back the detection result of the blade of the drone.
The method for detecting abnormality of a propeller according to claim 20, wherein the UAV model includes a propeller, the propeller includes a plurality of blades, and the operating state of the propeller on the UAV model is based on the The blade test results are confirmed.
The method for detecting abnormality of a propeller according to claim 21, wherein the operating state of the propeller includes a rotating state and a static state, and if the detection result of the propeller is that the propeller is in an unbalanced state, the UAV model The corresponding propeller on the drone is in a stationary state, and if the blade detection result indicates that the propeller is in a balanced state, then the propellers of the UAV model are all in a rotating state.
The method for detecting abnormality of a propeller according to claim 20, wherein the method further comprises:

If the detection result of the blade is that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to feedback that the propeller is in an unbalanced state.
The method for detecting abnormality of a propeller according to claim 23, wherein the method further comprises:

Control the preset blade icon to flash according to the preset flashing frequency; or

The color of the preset paddle icon is controlled to be cyclically switched between the first preset color and the second preset color.
An unmanned aerial vehicle, characterized in that it includes a power system, the power system includes a motor and a propeller, the propeller includes a plurality of blades, and the motor is used to drive the propeller to rotate, so as to provide the unmanned aerial vehicle. providing flight power, the UAV also includes a memory and a processor;

the memory for storing computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Acquiring operation information when the UAV is not taking off, wherein the operation information includes at least one of the operation state information of the motor and the vibration state information of the UAV;

Determine the blade detection result of the propeller according to the operating state information of the motor and/or the vibration state information of the UAV;

When the detection result of the blade is that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal.
The unmanned aerial vehicle according to claim 25, wherein the unbalanced state comprises that at least one of the plurality of blades is damaged, or when the plurality of blades are rotatable, the At least one of the plurality of blades is not deployed.
The unmanned aerial vehicle of claim 25, wherein the processor is further configured to implement the following steps:

If the running duration of the motor is less than the preset running duration, it is determined that the UAV is not taking off; and/or;

If the rotational speed of the motor is lower than the preset hovering rotational speed, it is determined that the UAV is not taking off.
The unmanned aerial vehicle according to claim 25, wherein the operating state information of the motor includes a plurality of operating state quantities of the motor, and the operating state quantities include the rotational speed and current of the motor. The operating state information of the motor determines the blade detection result of the propeller, including:

determining, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period;

The detection result of the blade of the propeller is determined according to the positive abnormal distribution of the operating state quantity within the preset time period.
The unmanned aerial vehicle according to claim 28, wherein the determining, according to the plurality of operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period comprises:

Counting the first number of operating state quantities within the range of the abnormal first preset operating state quantities among the plurality of operating state quantities;

Counting the second number of operating state quantities within the normal second preset operating state quantity range among the plurality of operating state quantities;

According to the total quantity, the first quantity and the second quantity of the operating state quantity, the positive abnormal distribution of the operating state quantity within a preset time period is determined.
The unmanned aerial vehicle according to claim 29, wherein the determination of the detection result of the blades of the propeller according to the positive abnormal distribution of the operating state quantity within a preset time period comprises:

If the ratio of the first quantity to the total quantity is greater than a first preset ratio, and/or the ratio of the second quantity to the total quantity is smaller than a second preset ratio, determine the blades of the propeller The detection result is that the propeller is in an unbalanced state.
The unmanned aerial vehicle according to claim 25, wherein the unmanned aerial vehicle further comprises a frame and an inertial measurement unit, and the vibration state information of the unmanned aerial vehicle comprises the A plurality of vibration state quantities of the frame, the vibration state quantities include the vibration intensity and vibration frequency of the frame, and the detection result of the blade of the propeller is determined according to the vibration state information of the drone, including:

According to the plurality of vibration state quantities, determine the positive abnormal distribution of the vibration state quantities within a preset time period;

According to the positive abnormal distribution of the vibration state quantity within a preset time period, the detection result of the blade of the propeller is determined.
The unmanned aerial vehicle according to claim 31, wherein the determining, according to the plurality of vibration state quantities, the positive abnormal distribution of the vibration state quantities within a preset time period, comprising:

Counting the third number of operating state quantities within the range of the abnormal first preset vibration state quantities among the plurality of vibration state quantities;

Counting the fourth number of operating state quantities within the normal second preset vibration state quantity range among the plurality of vibration state quantities;

According to the total quantity, the third quantity and the fourth quantity of the vibration state quantity, the positive abnormal distribution of the vibration state quantity within the preset time period is determined.
The unmanned aerial vehicle according to claim 25, wherein the unmanned aerial vehicle further comprises a frame and an inertial measurement unit, and the operating state information of the motor includes a plurality of operating state quantities of the motor and the inertial measurement unit. A plurality of vibration state quantities of the rack collected by the measurement unit, the operating state quantities include the rotational speed and current of the motor, and the vibration state quantities include the vibration intensity and vibration frequency of the rack, and the The operating state information of the motor and the vibration state information of the UAV determine the detection results of the blades of the propeller, including:

determining, according to the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period;

determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantities within a preset time period;

According to the first positive abnormality distribution and the second positive abnormality distribution, the blade detection result of the propeller is determined.
The unmanned aerial vehicle according to any one of claims 25 to 33, characterized in that, the propeller of the propeller is determined according to the operating state information of the motor and/or the vibration state information of the unmanned aerial vehicle. After the leaf test results, also include:

When the detection result of the blade is that the propeller is in an unbalanced state, the rotation speed of the motor is increased to a preset rotation speed for a preset period of time.
The unmanned aerial vehicle according to any one of claims 25 to 33, characterized in that, the propeller of the propeller is determined according to the operating state information of the motor and/or the vibration state information of the unmanned aerial vehicle. After the leaf test results, also include:

When the detection result of the blade is that the propeller is in an unbalanced state, the propeller is controlled to stop rotating.
The drone according to claim 35, wherein after the control of the propeller to stop rotating, it further comprises:

The blade abnormality information is sent to the control terminal that communicates with the drone, so that the control terminal can output the blade abnormality information to prompt the user that the blade is abnormal.
A control terminal, characterized in that, the control terminal is used for communicating with an unmanned aerial vehicle to control the unmanned aerial vehicle, the unmanned aerial vehicle includes a power system, and the power system includes a motor and a propeller, The motor is used to drive the propeller to rotate, so as to provide flying power for the drone, and the control terminal includes a memory and a processor;

the memory for storing computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Obtain the blade detection result of the propeller sent by the drone;

According to the detection result of the blade, the corresponding drone model is displayed in the display device connected with the control terminal to feed back the detection result of the blade of the drone.
The control terminal according to claim 37, wherein the drone model comprises a propeller, the propeller comprises a plurality of blades, and the operating state of the propeller on the drone model is based on the propellers The test results are confirmed.
The control terminal according to claim 38, wherein the operating state of the propeller includes a rotating state and a static state, and if the detection result of the propeller is that the propeller is in an unbalanced state, the UAV model The corresponding propeller is in a stationary state, and if the blade detection result indicates that the propeller is in a balanced state, then the propellers of the UAV model are all in a rotating state.
The control terminal according to claim 37, wherein the processor is further configured to implement the following steps:

If the detection result of the blade is that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to feedback that the propeller is in an unbalanced state.
The control terminal according to claim 40, wherein the processor is further configured to implement the following steps:

Control the preset blade icon to flash according to the preset flashing frequency; or

The color of the preset paddle icon is controlled to be cyclically switched between the first preset color and the second preset color.
A control system, characterized in that the control system comprises the drone according to any one of claims 25-36 and the control terminal according to any one of claims 37-41, the control The terminal is connected to the UAV in communication, and is used for controlling the UAV.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-24. The steps of the propeller anomaly detection method described above.