WO2022094942A1 - Management method and device for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium - Google Patents

Management method and device for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium Download PDF

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Publication number
WO2022094942A1
WO2022094942A1 PCT/CN2020/127198 CN2020127198W WO2022094942A1 WO 2022094942 A1 WO2022094942 A1 WO 2022094942A1 CN 2020127198 W CN2020127198 W CN 2020127198W WO 2022094942 A1 WO2022094942 A1 WO 2022094942A1
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WIPO (PCT)
Prior art keywords
esc
model information
control
target
uav
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PCT/CN2020/127198
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French (fr)
Chinese (zh)
Inventor
贾向华
王璐
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2020/127198 priority Critical patent/WO2022094942A1/en
Publication of WO2022094942A1 publication Critical patent/WO2022094942A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the invention relates to the technical field of control, and in particular, to a management method, equipment, drone and storage medium of an unmanned aerial vehicle.
  • the embodiments of the present invention provide a management method, equipment, and storage medium for an unmanned aerial vehicle, which can realize that different types of unmanned aerial vehicles can share one ESC system, and reduce the complexity of the user's operation of the unmanned aerial vehicle. , improving the efficiency and flexibility of UAV management.
  • an embodiment of the present invention provides a management method for an unmanned aerial vehicle, where the unmanned aerial vehicle includes an ESC system for controlling a power motor of the unmanned aerial vehicle, and the ESC system includes one or more electric motors tune, the method includes:
  • the target ESC control parameters are determined according to the determined model information.
  • the model information is selected from the ESC control parameters corresponding to various model information.
  • an embodiment of the present invention provides a management device for an unmanned aerial vehicle, including: a memory and a processor;
  • the memory for storing program instructions
  • the processor is configured to call the program instruction, and when the program instruction is executed, is configured to perform the following operations:
  • the target ESC control parameters are determined according to the determined model information.
  • the model information is selected from the ESC control parameters corresponding to various model information.
  • an embodiment of the present invention provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:
  • the power system configured on the fuselage is used to provide flight power for the UAV;
  • An ESC system including one or more ESCs, used to control the power motor of the drone;
  • a processor for determining the model information of the UAV; instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV,
  • the target ESC control parameters are selected from ESC control parameters corresponding to various model information according to the determined model information.
  • an embodiment of the present invention 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, implements the method described in the first aspect.
  • the management device of the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the ESC corresponding to the determined model information according to the determined model information.
  • the target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESC systems for different types of UAVs in the prior art. It reduces the user's operational complexity of UAVs and improves the efficiency and flexibility of UAV management.
  • FIG. 1 is a schematic structural diagram of a management system for an unmanned aerial vehicle provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for managing an unmanned aerial vehicle provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of another UAV management method provided by an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a management device for an unmanned aerial vehicle provided by an embodiment of the present invention.
  • the UAV management method provided in the embodiment of the present invention may be executed by a UAV management device in a UAV management system, wherein the UAV management system includes an UAV management device and a UAV management system. man-machine.
  • the management device of the drone may be communicatively connected to the drone, in some embodiments, the management device of the drone may be installed on the drone, in some embodiments , the management device of the UAV may be spatially independent of the UAV, and in some embodiments, the management device of the UAV may be a component of the UAV, that is, the UAV includes UAV management equipment.
  • the UAV includes an ESC system for controlling a power motor of the UAV, the ESC system including one or more ESCs.
  • the UAV management method provided by the embodiment of the present invention can identify the model information of the UAV through the model authentication device in the UAV after the UAV is powered on, and the model authentication device will identify the obtained model information.
  • Send it to the management device of the drone so that the management device of the drone can determine the model information of the drone, and send the determined model information to the ESC system of the drone, so that the ESC system can
  • the ESC selects the target ESC control parameters used to control the power motor of the UAV from the ESC control parameters corresponding to various model information, and instructs the ESC system of the UAV.
  • the ESC uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
  • the ESC in the ESC system may also be address, and determine the number of successfully addressed ESCs, and determine the target number of ESCs corresponding to the model information of the UAV; if the number of successfully addressed ESCs is the same as the target number When the number is the same, the ESC in the ESC system is instructed to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV; if the number of successfully addressed ESCs is equal to When the number of targets is inconsistent, the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal; if the information of various models does not include the determined model information, it means that the ESC can be matched
  • the model information does not include the model of the current drone, output the second fault information, or prohibit the drone from taking off or respond to the control command of the control terminal
  • the ESC in the ESC system of the UAV can be instructed to use the target ESC control corresponding to the determined model information according to the determined model information.
  • the parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the problem that different types of UAVs need to be replaced with different ESC systems in the prior art, and reduces the The complexity of the user's operation of the UAV improves the efficiency and flexibility of the UAV management.
  • the following is a schematic illustration of a management system for an unmanned aerial vehicle provided by an embodiment of the present invention with reference to FIG. 1 .
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle management system provided by an embodiment of the present invention.
  • the unmanned aerial vehicle management system includes: an unmanned aerial vehicle management device 11 and
  • the unmanned aerial vehicle 12 includes a power system 121, and the power system 121 includes a plurality of power motors for providing the unmanned aerial vehicle 12 with moving power.
  • the management device 11 of the UAV is provided in the UAV 12, and can establish a communication connection with other devices in the UAV (such as the power system 121) through a wired communication connection.
  • the UAV 12 and the UAV management device 11 are independent of each other, for example, the UAV management device 11 is set in a cloud server, and establishes a communication connection with the UAV 12 through a wireless communication connection.
  • the UAV 12 includes an ESC (not shown in FIG. 1 ) for controlling the power motors of the UAV, the ESC including one or more ESCs ( FIG. 1 ). 1 is not shown).
  • the model information of the drone 12 is determined by the management device 11 of the drone, and according to the determined model information, the ESC in the ESC system of the drone 12 is instructed to use and the determined model information
  • the corresponding target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESCs for different types of UAVs in the prior art.
  • the problem of the system reduces the complexity of the user's operation of the UAV, and improves the efficiency and flexibility of the UAV management.
  • a method for managing an unmanned aerial vehicle provided by an embodiment of the present invention will be schematically described below with reference to FIG. 2 to FIG. 3 .
  • FIG. 2 is a schematic flowchart of a method for managing an unmanned aerial vehicle provided by an embodiment of the present invention.
  • the method can be applied to a management device of an unmanned aerial vehicle.
  • the explanation is as before.
  • the method in the embodiment of the present invention includes the following steps.
  • the management device of the UAV can determine the model information of the UAV.
  • the UAV includes a model authentication device, and the model authentication device includes a model authentication interface; when the UAV management device determines the model information of the UAV, it can obtain The level information of the model authentication interface, and the model information of the UAV is determined according to the level information.
  • the model information of the UAV includes the configuration, load and other information of the UAV.
  • the level information includes the magnitude of the level, the level of the level, and the like.
  • the level information of the model authentication interface when acquiring the level information of the model authentication interface, it can be determined according to the pins in the processor (such as a chip) electrically connected to the model authentication interface in the model authentication device. Obtain the level information of the model authentication interface.
  • the level information of the model authentication interface may also be acquired in other ways, which is not specifically limited here.
  • the obtained model information may be determined according to the preset correspondence between the level information and the model information.
  • Model information corresponding to the level information of the model authentication interface may be determined according to the preset correspondence between the level information and the model information.
  • the UAV includes a storage device for storing the model information of the UAV; the management device of the UAV can obtain the storage device when determining the model information of the UAV The model information of the drone sent by the device.
  • S202 Instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
  • the management device of the drone may instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the drone, wherein the The target ESC control parameters are selected from ESC control parameters corresponding to various model information according to the determined model information.
  • the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
  • the ESC control parameter includes at least one of a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a lever quantity and a control quantity of the motor.
  • the control coefficient of the speed loop of the ESC is used to control the rotational speed, steering, etc. of the motor; in some embodiments, the control coefficient of the current loop is used to control the current of the motor.
  • the size is controlled; in some embodiments, the corresponding relationship between the control amount of the lever and the control amount of the motor may include, but is not limited to, the throttle pull curve and the like.
  • the management device of the drone instructs the ESC in the ESC system to use the target ESC control parameter corresponding to the determined model information to control the power motor of the drone
  • the determined model information can be sent to the ESC system, so that the ESC is selected from the ESC control parameters corresponding to the various model information for control according to the determined model information.
  • the ESC can pre-store the mapping relationship between various model information and ESC control parameters, and the management device of the UAV can send the determined model information to the ESC
  • the ESC in the ESC system can select the corresponding ESC control parameters from the ESC control parameters corresponding to the various model information according to the pre-stored mapping relationship between various model information and ESC control parameters.
  • the determined model information corresponds to a target ESC control parameter for controlling the power motor of the UAV.
  • the management device of the drone before instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the drone, the management device of the drone, The ESCs in the ESC system can also be addressed, and the number of successfully addressed ESCs can be determined, as well as the target number of ESCs corresponding to the determined model information; When the number of ESCs is consistent with the target number, the ESCs in the ESC system are instructed to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
  • the ESCs in the ESC system can be addressed. If it is determined that the number of successfully addressed ESCs is 4, and it is determined that The target number of ESCs corresponding to the four-rotor UAV is 4; it can be determined that the number of successfully addressed ESCs is consistent with the target number, so it can be instructed that the ESCs in the ESC system use the same
  • the determined target ESC control parameters corresponding to the four-rotor UAV control the power motor of the UAV.
  • the addressing information of the ESCs can be determined according to the acquired level information of the model authentication interface, and then the determined addressing information can be used.
  • the information addresses the ESC.
  • the addressing information corresponding to the level information of the model authentication interface may be determined according to the preset correspondence between the level and the addressing information, so as to utilize the determined correspondence with the model authentication interface.
  • the addressing information corresponding to the level information of the interface addresses the ESC.
  • other manners may also be used to determine the addressing information of the ESC, which is not specifically limited here.
  • the UAV management device may determine the number of power motors according to the determined model information, and determine the number of power motors according to the determined model information.
  • the number of ESCs determines the target number of ESCs. For example, assuming that the determined model information is a quadrotor UAV, the number of power motors can be determined to be 4, and then the target number of ESCs can be determined according to the number of power motors.
  • the management device of the UAV can output the first fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction.
  • the first failure information may include information indicating an addressing failure.
  • the management device of the UAV may output the second fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction.
  • the second fault information may include information for instructing to replace the ESC.
  • the management device of the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the ESC corresponding to the determined model information according to the determined model information.
  • the target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESC systems for different types of UAVs in the prior art. It reduces the user's operational complexity, maintenance technical difficulty and cost of UAVs, and improves the efficiency and flexibility of UAV management.
  • FIG. 3 is a schematic flowchart of another UAV management method provided by an embodiment of the present invention.
  • the method can be applied to a UAV management device, wherein the UAV management device has a
  • the specific explanation is as described above.
  • the method in the embodiment of the present invention includes the following steps.
  • the management device of the UAV can determine the model information of the UAV.
  • the specific implementation process is as described above and will not be repeated here.
  • S302 Acquire target ESC control parameters from a local storage device according to the determined model information.
  • the management device of the UAV may acquire the target ESC control parameters from the local storage device according to the determined model information.
  • the local storage device of the UAV can pre-store the mapping relationship between the model information and the ESC control parameters, and then can store the mapping relationship between the model information and the ESC control parameters in advance. A target ESC control parameter corresponding to the determined model information is determined.
  • the efficiency of acquiring the target ESC control parameters can be improved.
  • S303 Send the target ESC control parameters to an ESC system, so that the ESC controls the power motor of the UAV by using the target ESC control parameters corresponding to the determined model information.
  • the management device of the UAV can send the target ESC control parameters to the ESC system, so that the ESC uses the target ESC control parameters corresponding to the determined model information to control the The power motor of the drone.
  • the ESC includes one or more ESCs in the ESC system.
  • the ESCs in the ESC system can also be addressed, the number of ESCs that are successfully addressed, and the target number of ESCs corresponding to the determined model information can be determined. ; If the number of successfully addressed ESCs is consistent with the target number, send the target ESC control parameters to the ESC system, so that the ESCs use the target ESC control parameters to control all ESCs Describe the power motor of the drone.
  • the specific embodiments are as described above, and are not repeated here.
  • the number of power motors when determining the target number of ESCs corresponding to the determined model information, the number of power motors may be determined according to the determined model information, and the number of ESCs may be determined according to the number of power motors. target number.
  • the specific embodiments are as described above, and are not repeated here.
  • the management device of the UAV can output the first fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction.
  • the specific embodiments are as described above, and are not repeated here.
  • the management device of the UAV may output the second fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction.
  • the management device of the UAV may determine the model information of the UAV, and obtain the target ESC control parameters from the local storage device of the UAV according to the determined model information, so as to obtain the target ESC control parameters. improving the efficiency of obtaining target ESC control parameters; and sending the target ESC control parameters to the ESC system, so that the ESCs in the ESC system use the target ESC control parameters to control the non-
  • the power motor of the man-machine can realize that different types of UAVs can share one ESC system, which solves the problem that different types of UAVs need to be replaced with different ESC systems in the existing technology, and reduces the user's concern for no
  • the operational complexity, maintenance technical difficulty and cost of man-machine have improved the efficiency and flexibility of UAV management.
  • FIG. 4 is a schematic structural diagram of a management device for an unmanned aerial vehicle provided by an embodiment of the present invention.
  • the device includes a memory 401, a processor 402, and a data interface 403;
  • the memory 401 may include a volatile memory; the memory 401 may also include a non-volatile memory; the memory 401 may also include a combination of the above-mentioned types of memories.
  • the processor 402 may be a central processing unit (CPU).
  • the processor 402 may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA) or any combination thereof.
  • the processor 402 is configured to call the program instruction, and when the program instruction is executed, is configured to perform the following operations:
  • the model information is selected from the ESC control parameters corresponding to various model information.
  • the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
  • the processor 402 instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
  • the UAV includes a local storage device, and the processor 402 instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the UAV.
  • the power motor it is specifically used for:
  • the UAV includes a model authentication device, and the model authentication device includes a model authentication interface; when the processor 402 determines the model information of the UAV, it is specifically used for:
  • the model information of the UAV is determined according to the level information.
  • the UAV includes a storage device for storing the model information of the UAV; when the processor 402 determines the model information of the UAV, it is specifically used for:
  • processor 402 is also used for:
  • the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal.
  • the processor 402 instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
  • processor 402 is also used for:
  • the multiple model information does not include the determined model information, output the second fault information, or prohibit the drone from taking off or prohibit responding to the control command of the control terminal.
  • the ESC control parameter includes at least one of a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a control rod quantity and a control quantity of the motor.
  • the management device of the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the ESC corresponding to the determined model information according to the determined model information.
  • the target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESC systems for different types of UAVs in the prior art. It reduces the user's operational complexity, maintenance technical difficulty and cost of UAVs, and improves the efficiency and flexibility of UAV management.
  • An embodiment of the present invention also provides an unmanned aerial vehicle, the unmanned aerial vehicle comprising: a fuselage; a power system configured on the fuselage for providing flying power for the unmanned aerial vehicle; and an electric regulation system, including one or more An ESC to control the power motor of the drone;
  • a processor for determining the model information of the UAV; instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV,
  • the target ESC control parameters are selected from ESC control parameters corresponding to various model information according to the determined model information.
  • the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
  • the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
  • the UAV includes a local storage device, and the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the UAV.
  • the power motor it is specifically used for:
  • the unmanned aerial vehicle includes a model authentication device, and the model authentication device includes a model authentication interface; when the processor determines the model information of the unmanned aerial vehicle, it is specifically used for:
  • the model information of the UAV is determined according to the level information.
  • the UAV includes a storage device for storing the model information of the UAV; when the processor determines the model information of the UAV, it is specifically used for:
  • processor is also used for:
  • the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal.
  • the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
  • processor is also used for:
  • the multiple model information does not include the determined model information, output the second fault information, or prohibit the drone from taking off or prohibit responding to the control command of the control terminal.
  • the ESC control parameter includes at least one of a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a control rod quantity and a control quantity of the motor.
  • the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the target voltage corresponding to the determined model information according to the determined model information. Adjust the control parameters to control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the problem that different types of UAVs need to replace different ESC systems in the prior art. It reduces the user's operational complexity, maintenance technical difficulty and cost of UAVs, and improves the efficiency and flexibility of UAV management.
  • Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, or it can be implemented
  • the devices of the corresponding embodiments of the present invention will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or a memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card equipped on the device , Flash Card (Flash Card) and so on.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the apparatus.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

Abstract

A management method and device (11) for an unmanned aerial vehicle, an unmanned aerial vehicle (12), and a storage medium. The unmanned aerial vehicle (12) comprises an electronic speed controller system for controlling a power motor of the unmanned aerial vehicle (12). The electronic speed controller system comprises one or more electronic speed controllers. The method comprises: determining model information of an unmanned aerial vehicle (12) (S201); and instructing an electronic speed controller in an electronic speed controller system to use a target electronic speed controller control parameter corresponding to the determined model information to control a power motor of the unmanned aerial vehicle (12) (S202), wherein the target electronic speed controller control parameter is selected from the electronic speed controller control parameters corresponding to various model information according to the determined model information. By means of the method, unmanned aerial vehicles (12) of different models can share one electronic speed controller system, reducing the complexity of the operation of the user on the unmanned aerial vehicle (12), and improving the efficiency and flexibility of management of the unmanned aerial vehicle (12).

Description

一种无人机的管理方法、设备、无人机及存储介质UAV management method, equipment, UAV and storage medium 技术领域technical field
本发明涉及控制技术领域，尤其涉及一种无人机的管理方法、设备、无人机及存储介质。The invention relates to the technical field of control, and in particular, to a management method, equipment, drone and storage medium of an unmanned aerial vehicle.
背景技术Background technique
随着无人机技术的发展，无人机在植保、行业应用等相关领域取得了长足的发展，随着无人机种类的多样化，电调系统也随之越来越多样化。目前每种机型的无人机通常是单独进行电调系统的设计和生产，因此，不同机型的无人机需要更换不同的电调系统。用户在更换电调系统时，需要按照无人机的机型对应进行更换，否则无人机将无法完成飞行作业。这种方式增加了用户对无人机的操作复杂度，降低了对无人机的管理效率和灵活性，影响用户体验。With the development of drone technology, drones have made great progress in related fields such as plant protection and industrial applications. At present, each type of UAV is usually designed and produced separately for the ESC system. Therefore, different types of UAVs need to be replaced with different ESC systems. When replacing the ESC system, the user needs to replace it according to the model of the drone, otherwise the drone will not be able to complete the flight operation. This method increases the complexity of the user's operation of the drone, reduces the management efficiency and flexibility of the drone, and affects the user experience.
发明内容SUMMARY OF THE INVENTION
本发明实施例提供了一种无人机的管理方法、设备、无人机及存储介质，可以实现不同机型的无人机共用一个电调系统，降低了用户对无人机的操作复杂度，提高了对无人机管理的效率和灵活性。The embodiments of the present invention provide a management method, equipment, and storage medium for an unmanned aerial vehicle, which can realize that different types of unmanned aerial vehicles can share one ESC system, and reduce the complexity of the user's operation of the unmanned aerial vehicle. , improving the efficiency and flexibility of UAV management.
第一方面，本发明实施例提供了一种无人机的管理方法，所述无人机包括用于控制无人机的动力电机的电调系统，所述电调系统包括一个或多个电调，所述方法包括：In a first aspect, an embodiment of the present invention provides a management method for an unmanned aerial vehicle, where the unmanned aerial vehicle includes an ESC system for controlling a power motor of the unmanned aerial vehicle, and the ESC system includes one or more electric motors tune, the method includes:
确定无人机的机型信息；Determine the model information of the UAV;
指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。Instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, wherein the target ESC control parameters are determined according to the determined model information. The model information is selected from the ESC control parameters corresponding to various model information.
第二方面，本发明实施例提供了一种无人机的管理设备，包括：存储器和处理器；In a second aspect, an embodiment of the present invention provides a management device for an unmanned aerial vehicle, including: a memory and a processor;
所述存储器，用于存储程序指令；the memory for storing program instructions;
所述处理器，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor is configured to call the program instruction, and when the program instruction is executed, is configured to perform the following operations:
确定无人机的机型信息；Determine the model information of the UAV;
指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。Instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, wherein the target ESC control parameters are determined according to the determined model information. The model information is selected from the ESC control parameters corresponding to various model information.
第三方面，本发明实施例提供了一种无人机，所述无人机包括：In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:
机身；body;
配置在机身上的动力系统，用于为无人机提供飞行动力；The power system configured on the fuselage is used to provide flight power for the UAV;
电调系统，包括一个或多个电调，用于控制无人机的动力电机；An ESC system, including one or more ESCs, used to control the power motor of the drone;
处理器，用于确定无人机的机型信息；指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。a processor for determining the model information of the UAV; instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, The target ESC control parameters are selected from ESC control parameters corresponding to various model information according to the determined model information.
第四方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面所述的方法。In a fourth aspect, an embodiment of the present invention 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, implements the method described in the first aspect.
本发明实施例中，无人机的管理设备可以确定无人机的机型信息，并根据确定的机型信息指示无人机的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机，以实现不同机型的无人机可以共用一个电调系统，解决了现有技术中不同机型的无人机需要更换不同的电调系统的问题，降低了用户对无人机的操作复杂度，提高了对无人机管理的效率和灵活性。In the embodiment of the present invention, the management device of the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the ESC corresponding to the determined model information according to the determined model information. The target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESC systems for different types of UAVs in the prior art. It reduces the user's operational complexity of UAVs and improves the efficiency and flexibility of UAV management.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1是本发明实施例提供的一种无人机的管理系统的结构示意图；1 is a schematic structural diagram of a management system for an unmanned aerial vehicle provided by an embodiment of the present invention;
图2是本发明实施例提供的一种无人机的管理方法的流程示意图；2 is a schematic flowchart of a method for managing an unmanned aerial vehicle provided by an embodiment of the present invention;
图3是本发明实施例提供的另一种无人机的管理方法的流程示意图；3 is a schematic flowchart of another UAV management method provided by an embodiment of the present invention;
图4是本发明实施例提供的一种无人机的管理设备的结构示意图。FIG. 4 is a schematic structural diagram of a management device for an unmanned aerial vehicle provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention 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.
本发明实施例中提供的无人机的管理方法可以由无人机的管理系统中的无人机的管理设备执行，其中，所述无人机的管理系统包括无人机的管理设备和无人机。在某些实施例中，所述无人机的管理设备可以与无人机通信连接，在某些实施例中，所述无人机的管理设备可以安装在无人机上，在某些实施例中，所述无人机的管理设备可以在空间上独立于无人机，在某些实施例中，所述无人机的管理设备可以是无人机的部件，即所述无人机包括无人机的管理设备。在某些实施例中，所述无人机包括用于控制无人机的动力电机的电调系统，所述电调系统包括一个或多个电调。The UAV management method provided in the embodiment of the present invention may be executed by a UAV management device in a UAV management system, wherein the UAV management system includes an UAV management device and a UAV management system. man-machine. In some embodiments, the management device of the drone may be communicatively connected to the drone, in some embodiments, the management device of the drone may be installed on the drone, in some embodiments , the management device of the UAV may be spatially independent of the UAV, and in some embodiments, the management device of the UAV may be a component of the UAV, that is, the UAV includes UAV management equipment. In certain embodiments, the UAV includes an ESC system for controlling a power motor of the UAV, the ESC system including one or more ESCs.
本发明实施例提出的无人机的管理方法，可在无人机上电后通过无人机中的机型认证装置识别无人机的机型信息，机型认证装置将识别得到的机型信息发送给无人机的管理设备，使得无人机的管理设备确定无人机的机型信息，并将该确定的机型信息发送给无人机的电调系统，以使该电调系统中的电调根据该确定的机型信息从多种机型信息对应的电调控制参数中选中用于控制无人机的动力电机的目标电调控制参数，并指示无人机的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机。The UAV management method provided by the embodiment of the present invention can identify the model information of the UAV through the model authentication device in the UAV after the UAV is powered on, and the model authentication device will identify the obtained model information. Send it to the management device of the drone, so that the management device of the drone can determine the model information of the drone, and send the determined model information to the ESC system of the drone, so that the ESC system can According to the determined model information, the ESC selects the target ESC control parameters used to control the power motor of the UAV from the ESC control parameters corresponding to various model information, and instructs the ESC system of the UAV. The ESC uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
在一个实施例中，在指示无人机的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机之前，还可以对电调系统中的电调进行编址，并确定编址成功的电调的数量，以及确定与该无人机的机型信息对应的电调的目标数量；若编址成功的电调的数量与所述目标数量一致时，指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机；若编址成功的电调的数量与所述目标数量 不一致时，输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令；若多种机型信息不包括所述确定的机型信息时，说明电调可以匹配的机型信息中不包括当前无人机的机型，输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。In one embodiment, before instructing the ESC in the ESC system of the UAV to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, the ESC in the ESC system may also be address, and determine the number of successfully addressed ESCs, and determine the target number of ESCs corresponding to the model information of the UAV; if the number of successfully addressed ESCs is the same as the target number When the number is the same, the ESC in the ESC system is instructed to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV; if the number of successfully addressed ESCs is equal to When the number of targets is inconsistent, the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal; if the information of various models does not include the determined model information, it means that the ESC can be matched The model information does not include the model of the current drone, output the second fault information, or prohibit the drone from taking off or respond to the control command of the control terminal.
通过这种实施方式，可以在确定无人机的机型信息后，根据确定的机型信息指示无人机的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机，以实现不同机型的无人机可以共用一个电调系统，解决了现有技术中不同机型的无人机需要更换不同的电调系统的问题，降低了用户对无人机的操作复杂度，提高了对无人机管理的效率和灵活性。Through this implementation, after the model information of the UAV is determined, the ESC in the ESC system of the UAV can be instructed to use the target ESC control corresponding to the determined model information according to the determined model information. The parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the problem that different types of UAVs need to be replaced with different ESC systems in the prior art, and reduces the The complexity of the user's operation of the UAV improves the efficiency and flexibility of the UAV management.
下面结合附图1对本发明实施例提供的无人机的管理系统进行示意性说明。The following is a schematic illustration of a management system for an unmanned aerial vehicle provided by an embodiment of the present invention with reference to FIG. 1 .
请参见图1，图1是本发明实施例提供的一种无人机的管理系统的结构示意图，如图1所示，所述无人机的管理系统包括：无人机的管理设备11和无人机12，所述无人机12包括动力系统121，所述动力系统121包括多个动力电机，用于为无人机12提供移动的动力。在一些实施例中，无人机的管理设备11设置在无人机12中，可以通过有线通信连接方式与无人机中的其他设备(如动力系统121)建立通信连接。在其他实施例中，无人机12和无人机的管理设备11彼此独立，例如无人机的管理设备11设置在云端服务器中，通过无线通信连接方式与无人机12建立通信连接。在某些实施例中，所述无人机12包括用于控制无人机的动力电机的电调系统(图1中未示出)，所述电调系统包括一个或多个电调(图1中未示出)。Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle management system provided by an embodiment of the present invention. As shown in FIG. 1, the unmanned aerial vehicle management system includes: an unmanned aerial vehicle management device 11 and The unmanned aerial vehicle 12 includes a power system 121, and the power system 121 includes a plurality of power motors for providing the unmanned aerial vehicle 12 with moving power. In some embodiments, the management device 11 of the UAV is provided in the UAV 12, and can establish a communication connection with other devices in the UAV (such as the power system 121) through a wired communication connection. In other embodiments, the UAV 12 and the UAV management device 11 are independent of each other, for example, the UAV management device 11 is set in a cloud server, and establishes a communication connection with the UAV 12 through a wireless communication connection. In certain embodiments, the UAV 12 includes an ESC (not shown in FIG. 1 ) for controlling the power motors of the UAV, the ESC including one or more ESCs ( FIG. 1 ). 1 is not shown).
本发明实施例通过无人机的管理设备11确定无人机12的机型信息，并根据确定的机型信息指示无人机12的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机，以实现不同机型的无人机可以共用一个电调系统，解决了现有技术中不同机型的无人机需要更换不同的电调系统的问题，降低了用户对无人机的操作复杂度，提高了对无人机管理的效率和灵活性。In the embodiment of the present invention, the model information of the drone 12 is determined by the management device 11 of the drone, and according to the determined model information, the ESC in the ESC system of the drone 12 is instructed to use and the determined model information The corresponding target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESCs for different types of UAVs in the prior art. The problem of the system reduces the complexity of the user's operation of the UAV, and improves the efficiency and flexibility of the UAV management.
下面结合附图2-附图3对本发明实施例提供的无人机的管理方法进行示意性说明。A method for managing an unmanned aerial vehicle provided by an embodiment of the present invention will be schematically described below with reference to FIG. 2 to FIG. 3 .
具体请参见图2，图2是本发明实施例提供的一种无人机的管理方法的流程示意图，所述方法可以应用于无人机的管理设备，所述无人机的管理设备的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。Please refer to FIG. 2 for details. FIG. 2 is a schematic flowchart of a method for managing an unmanned aerial vehicle provided by an embodiment of the present invention. The method can be applied to a management device of an unmanned aerial vehicle. The explanation is as before. Specifically, the method in the embodiment of the present invention includes the following steps.
S201：确定无人机的机型信息。S201: Determine the model information of the UAV.
本发明实施例中，无人机的管理设备可以确定无人机的机型信息。In the embodiment of the present invention, the management device of the UAV can determine the model information of the UAV.
在一个实施例中，所述无人机包括机型认证装置，所述机型认证装置包括机型认证接口；所述无人机的管理设备在确定无人机的机型信息时，可以获取所述机型认证接口的电平信息，并根据所述电平信息确定所述无人机的机型信息。其中，所述无人机的机型信息包括无人机的构型、载重等信息。在某些实施例中，所述电平信息包括电平的大小、电平的高低等。In one embodiment, the UAV includes a model authentication device, and the model authentication device includes a model authentication interface; when the UAV management device determines the model information of the UAV, it can obtain The level information of the model authentication interface, and the model information of the UAV is determined according to the level information. Wherein, the model information of the UAV includes the configuration, load and other information of the UAV. In some embodiments, the level information includes the magnitude of the level, the level of the level, and the like.
在一个实施例中，在获取所述机型认证接口的电平信息时，可以根据所述机型认证装置中与所述机型认证接口电连接的处理器(如芯片)中的引脚来获取所述机型认证接口的电平信息。当然，在其他实施例中，也可以采用其他方式获取所述机型认证接口的电平信息，此处不做具体限定。In one embodiment, when acquiring the level information of the model authentication interface, it can be determined according to the pins in the processor (such as a chip) electrically connected to the model authentication interface in the model authentication device. Obtain the level information of the model authentication interface. Of course, in other embodiments, the level information of the model authentication interface may also be acquired in other ways, which is not specifically limited here.
在一种实施方式中，在根据所述电平信息确定所述无人机的机型信息时，可以根据预设的电平信息与机型信息的对应关系确定与所述获取到的所述机型认证接口的电平信息对应的机型信息。In an embodiment, when determining the model information of the UAV according to the level information, the obtained model information may be determined according to the preset correspondence between the level information and the model information. Model information corresponding to the level information of the model authentication interface.
在一个实施例中，所述无人机包括用于存储无人机的机型信息的存储装置；所述无人机的管理设备在确定无人机的机型信息时，可以获取所述存储装置发送的无人机的机型信息。In one embodiment, the UAV includes a storage device for storing the model information of the UAV; the management device of the UAV can obtain the storage device when determining the model information of the UAV The model information of the drone sent by the device.
S202：指示电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。S202: Instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
本发明实施例中，无人机的管理设备可以指示电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。在某些实施例中，所述多种机型信息对应的电调控制参数预存在所述电调中。In the embodiment of the present invention, the management device of the drone may instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the drone, wherein the The target ESC control parameters are selected from ESC control parameters corresponding to various model information according to the determined model information. In some embodiments, the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
在某些实施例中，所述电调控制参数包括所述电调的速度环的控制系数、 电流环的控制系数、控制杆量与电机的控制量的对应关系中的至少一个。在某些实施例中，所述电调的速度环的控制系数用于对电机的转速大小、转向等进行控制；在某些实施例中，所述电流环的控制系数用于对电机的电流大小进行控制；在某些实施例中，所述控制杆量与电机的控制量的对应关系可以包括但不限于油门拉力曲线等。In some embodiments, the ESC control parameter includes at least one of a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a lever quantity and a control quantity of the motor. In some embodiments, the control coefficient of the speed loop of the ESC is used to control the rotational speed, steering, etc. of the motor; in some embodiments, the control coefficient of the current loop is used to control the current of the motor The size is controlled; in some embodiments, the corresponding relationship between the control amount of the lever and the control amount of the motor may include, but is not limited to, the throttle pull curve and the like.
在一个实施例中，无人机的管理设备在指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，可以将所述确定的机型信息发送给所述电调系统，以使所述电调根据所述确定的机型信息从所述多种机型信息对应的电调控制参数中选中用于控制所述无人机的动力电机的目标电调控制参数。In one embodiment, when the management device of the drone instructs the ESC in the ESC system to use the target ESC control parameter corresponding to the determined model information to control the power motor of the drone, The determined model information can be sent to the ESC system, so that the ESC is selected from the ESC control parameters corresponding to the various model information for control according to the determined model information. The target ESC control parameters of the power motor of the UAV.
在一种具体实施方式中，所述电调中可以预先存储多种机型信息与电调控制参数的映射关系，无人机的管理设备可以将所述确定的机型信息发送给所述电调系统，以使所述电调系统中的电调可以根据预先存储的多种机型信息与电调控制参数的映射关系，从所述多种机型信息对应的电调控制参数中选中与所述确定的机型信息对应的用于控制所述无人机的动力电机的目标电调控制参数。In a specific implementation manner, the ESC can pre-store the mapping relationship between various model information and ESC control parameters, and the management device of the UAV can send the determined model information to the ESC The ESC in the ESC system can select the corresponding ESC control parameters from the ESC control parameters corresponding to the various model information according to the pre-stored mapping relationship between various model information and ESC control parameters. The determined model information corresponds to a target ESC control parameter for controlling the power motor of the UAV.
在一个实施例中，无人机的管理设备在指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机之前，还可以对所述电调系统中的电调进行编址，并确定编址成功的电调的数量，以及确定与所述确定的机型信息对应的电调的目标数量；若编址成功的电调的数量与所述目标数量一致时，指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。In one embodiment, before instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the drone, the management device of the drone, The ESCs in the ESC system can also be addressed, and the number of successfully addressed ESCs can be determined, as well as the target number of ESCs corresponding to the determined model information; When the number of ESCs is consistent with the target number, the ESCs in the ESC system are instructed to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
例如，假设确定的机型信息为四旋翼无人机，则可以对所述电调系统中的电调进行编址，如果确定编址成功的电调的数量为4，并确定与所述确定的四旋翼无人机对应的电调的目标数量为4；则可以确定编址成功的电调的数量与所述目标数量一致，因此可以指示所述电调系统中的电调使用与所述确定的四旋翼无人机对应的目标电调控制参数控制所述无人机的动力电机。For example, assuming that the determined model information is a quad-rotor UAV, the ESCs in the ESC system can be addressed. If it is determined that the number of successfully addressed ESCs is 4, and it is determined that The target number of ESCs corresponding to the four-rotor UAV is 4; it can be determined that the number of successfully addressed ESCs is consistent with the target number, so it can be instructed that the ESCs in the ESC system use the same The determined target ESC control parameters corresponding to the four-rotor UAV control the power motor of the UAV.
在一个实施例中，在对所述电调系统中的电调进行编址时，可以根据获取到的机型认证接口的电平信息确定电调的编址信息，进而可以利用确定的编址信息对电调进行编址。在一种具体实施方式中，可以根据预设的电平与编址信 息的对应关系确定与所述机型认证接口的电平信息对应的编址信息，从而利用确定的与所述机型认证接口的电平信息对应的编址信息对所述电调进行编址。在其他实施例中，还可以采用其他方式确定电调的编址信息，此处不做具体限定。In one embodiment, when addressing the ESCs in the ESC system, the addressing information of the ESCs can be determined according to the acquired level information of the model authentication interface, and then the determined addressing information can be used. The information addresses the ESC. In a specific implementation manner, the addressing information corresponding to the level information of the model authentication interface may be determined according to the preset correspondence between the level and the addressing information, so as to utilize the determined correspondence with the model authentication interface. The addressing information corresponding to the level information of the interface addresses the ESC. In other embodiments, other manners may also be used to determine the addressing information of the ESC, which is not specifically limited here.
可见，通过对电调进行编址，降低了用户对无人机的电调的装配难度或维修难度，节省了成本；通过对比编址成功的电调数量与确定的机型信息对应的电调的目标数据是否一致，来指示所述电调系统中的电调是否使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机的这种方式，有助于在实现不同机型的无人机公用一个电调系统时，避免电调错误引起的安全隐患，提高了无人机的安全性。It can be seen that by addressing the ESC, the difficulty of assembling or maintaining the ESC for the UAV is reduced, and the cost is saved; by comparing the number of successfully addressed ESCs with the ESCs corresponding to the determined model information Whether the target data is consistent to indicate whether the ESC in the ESC system uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV is helpful. When realizing that different types of UAVs share one ESC system, it avoids potential safety hazards caused by ESC errors and improves the safety of UAVs.
在一个实施例中，无人机的管理设备在确定与所述确定的机型信息对应的电调的目标数量时，可以根据确定的机型信息确定动力电机的数量，并根据所述动力电机的数量确定电调的目标数量。例如，假设确定的机型信息为四旋翼无人机，则可以确定动力电机的数量为4个，进而可以根据动力电机的数量确定电调的目标数量。In one embodiment, when determining the target number of ESCs corresponding to the determined model information, the UAV management device may determine the number of power motors according to the determined model information, and determine the number of power motors according to the determined model information. The number of ESCs determines the target number of ESCs. For example, assuming that the determined model information is a quadrotor UAV, the number of power motors can be determined to be 4, and then the target number of ESCs can be determined according to the number of power motors.
在一个实施例中，若所述编址成功的电调的数量与所述目标数量不一致时，无人机的管理设备可以输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。在某些实施例中，所述第一故障信息可以包括用于指示编址失败的信息。通过在检测到编址成功的电调的数量与所述目标数量不一致时输出第一故障信息，有助于用户根据所述第一故障信息的指示及时对电调进行对应的调整。In one embodiment, if the number of successfully addressed ESCs is inconsistent with the target number, the management device of the UAV can output the first fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction. In some embodiments, the first failure information may include information indicating an addressing failure. By outputting the first fault information when it is detected that the number of successfully addressed ESCs is inconsistent with the target number, it is helpful for the user to make corresponding adjustments to the ESCs in time according to the indication of the first fault information.
在一个实施例中，若所述多种机型信息不包括所述确定的机型信息时，无人机的管理设备可以输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。在某些实施例中，所述第二故障信息可以包括用于指示更换电调的信息。通过在检测到多种机型信息中不包括确定的机型信息时输出第二故障信息，有助于用户根据所述第二故障信息的指示及时进行更换电调等操作。In one embodiment, if the multiple model information does not include the determined model information, the management device of the UAV may output the second fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction. In some embodiments, the second fault information may include information for instructing to replace the ESC. By outputting the second fault information when it is detected that the determined type information is not included in the various types of information, it is helpful for the user to perform operations such as replacing the ESC in time according to the instructions of the second fault information.
本发明实施例中，无人机的管理设备可以确定无人机的机型信息，并根据确定的机型信息指示无人机的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机，以实现不同机型的无人机可以 共用一个电调系统，解决了现有技术中不同机型的无人机需要更换不同的电调系统的问题，降低了用户对无人机的操作复杂度、维修技术难度和成本，提高了对无人机管理的效率和灵活性。In the embodiment of the present invention, the management device of the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the ESC corresponding to the determined model information according to the determined model information. The target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESC systems for different types of UAVs in the prior art. It reduces the user's operational complexity, maintenance technical difficulty and cost of UAVs, and improves the efficiency and flexibility of UAV management.
具体请参见图3，图3是本发明实施例提供的另一种无人机的管理方法的流程示意图，所述方法可以应用于无人机的管理设备，其中，无人机的管理设备的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。Please refer to FIG. 3 for details. FIG. 3 is a schematic flowchart of another UAV management method provided by an embodiment of the present invention. The method can be applied to a UAV management device, wherein the UAV management device has a The specific explanation is as described above. Specifically, the method in the embodiment of the present invention includes the following steps.
S301：确定无人机的机型信息。S301: Determine the model information of the UAV.
本发明实施例中，无人机的管理设备可以确定无人机的机型信息。具体实施过程如前所述，此处不再赘述。In the embodiment of the present invention, the management device of the UAV can determine the model information of the UAV. The specific implementation process is as described above and will not be repeated here.
S302：根据所述确定的机型信息从本地存储装置获取目标电调控制参数。S302: Acquire target ESC control parameters from a local storage device according to the determined model information.
本发明实施例中，无人机的管理设备可以根据所述确定的机型信息从本地存储装置获取目标电调控制参数。In the embodiment of the present invention, the management device of the UAV may acquire the target ESC control parameters from the local storage device according to the determined model information.
在一种具体实施方式中，所述无人机的本地存储装置中可以预先存储机型信息与电调控制参数的映射关系，进而可以根据预先存储的机型信息与电调控制参数的映射关系确定与所述确定的机型信息对应的目标电调控制参数。In a specific embodiment, the local storage device of the UAV can pre-store the mapping relationship between the model information and the ESC control parameters, and then can store the mapping relationship between the model information and the ESC control parameters in advance. A target ESC control parameter corresponding to the determined model information is determined.
通过这种直接从无人机的本地存储装置中获取与无人机的机型信息对应的目标电调控制参数，有助于提高获取目标电调控制参数的效率。By directly acquiring the target ESC control parameters corresponding to the model information of the UAV from the local storage device of the UAV, the efficiency of acquiring the target ESC control parameters can be improved.
S303：将所述目标电调控制参数发送给电调系统，以使电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。S303: Send the target ESC control parameters to an ESC system, so that the ESC controls the power motor of the UAV by using the target ESC control parameters corresponding to the determined model information.
本发明实施例中，无人机的管理设备可以将所述目标电调控制参数发送给电调系统，以使电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。其中，所述电调包括所述电调系统中的一个或多个电调。In the embodiment of the present invention, the management device of the UAV can send the target ESC control parameters to the ESC system, so that the ESC uses the target ESC control parameters corresponding to the determined model information to control the The power motor of the drone. Wherein, the ESC includes one or more ESCs in the ESC system.
在一个实施例中，还可以对所述电调系统中的电调进行编址，并确定编址成功的电调的数量，以及确定与所述确定的机型信息对应的电调的目标数量；若编址成功的电调的数量与所述目标数量一致时，将所述目标电调控制参数发送给所述电调系统，以使所述电调使用所述目标电调控制参数控制所述无人机的动力电机。具体实施例如前所述，此处不再赘述。In one embodiment, the ESCs in the ESC system can also be addressed, the number of ESCs that are successfully addressed, and the target number of ESCs corresponding to the determined model information can be determined. ; If the number of successfully addressed ESCs is consistent with the target number, send the target ESC control parameters to the ESC system, so that the ESCs use the target ESC control parameters to control all ESCs Describe the power motor of the drone. The specific embodiments are as described above, and are not repeated here.
在一个实施例中，在确定与所述确定的机型信息对应的电调的目标数量 时，可以根据确定的机型信息确定动力电机的数量，并根据所述动力电机的数量确定电调的目标数量。具体实施例如前所述，此处不再赘述。In one embodiment, when determining the target number of ESCs corresponding to the determined model information, the number of power motors may be determined according to the determined model information, and the number of ESCs may be determined according to the number of power motors. target number. The specific embodiments are as described above, and are not repeated here.
在一个实施例中，若所述编址成功的电调的数量与所述目标数量不一致时，无人机的管理设备可以输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。具体实施例如前所述，此处不再赘述。In one embodiment, if the number of successfully addressed ESCs is inconsistent with the target number, the management device of the UAV can output the first fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction. The specific embodiments are as described above, and are not repeated here.
在一个实施例中，若所述多种机型信息不包括所述确定的机型信息时，无人机的管理设备可以输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。具体实施例如前所述，此处不再赘述。In one embodiment, if the multiple model information does not include the determined model information, the management device of the UAV may output the second fault information, or prohibit the UAV from taking off or prohibit responding to the control terminal's Control instruction. The specific embodiments are as described above, and are not repeated here.
本发明实施例中，无人机的管理设备可以确定无人机的机型信息，并根据所述确定的机型信息从无人机的本地存储装置中获取所述目标电调控制参数，以提高获取目标电调控制参数的效率；以及将所述目标电调控制参数发送给所述电调系统，以使所述电调系统中的电调使用所述目标电调控制参数控制所述无人机的动力电机，以实现不同机型的无人机可以共用一个电调系统，解决了现有技术中不同机型的无人机需要更换不同的电调系统的问题，降低了用户对无人机的操作复杂度、维修技术难度和成本，提高了对无人机管理的效率和灵活性。In the embodiment of the present invention, the management device of the UAV may determine the model information of the UAV, and obtain the target ESC control parameters from the local storage device of the UAV according to the determined model information, so as to obtain the target ESC control parameters. improving the efficiency of obtaining target ESC control parameters; and sending the target ESC control parameters to the ESC system, so that the ESCs in the ESC system use the target ESC control parameters to control the non- The power motor of the man-machine can realize that different types of UAVs can share one ESC system, which solves the problem that different types of UAVs need to be replaced with different ESC systems in the existing technology, and reduces the user's concern for no The operational complexity, maintenance technical difficulty and cost of man-machine have improved the efficiency and flexibility of UAV management.
请参见图4，图4是本发明实施例提供的一种无人机的管理设备的结构示意图，所述设备包括存储器401、处理器402和数据接口403；Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of a management device for an unmanned aerial vehicle provided by an embodiment of the present invention. The device includes a memory 401, a processor 402, and a data interface 403;
所述存储器401可以包括易失性存储器(volatile memory)；存储器401也可以包括非易失性存储器(non-volatile memory)；存储器401还可以包括上述种类的存储器的组合。所述处理器402可以是中央处理器(central processing unit，CPU)。所述处理器402还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。The memory 401 may include a volatile memory; the memory 401 may also include a non-volatile memory; the memory 401 may also include a combination of the above-mentioned types of memories. The processor 402 may be a central processing unit (CPU). The processor 402 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA) or any combination thereof.
所述处理器402，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor 402 is configured to call the program instruction, and when the program instruction is executed, is configured to perform the following operations:
确定无人机的机型信息；Determine the model information of the UAV;
指示电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。Instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, wherein the target ESC control parameters are based on the determined machine type information. The model information is selected from the ESC control parameters corresponding to various model information.
进一步地，所述多种机型信息对应的电调控制参数预存在所述电调中。Further, the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
进一步地，所述处理器402指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：Further, when the processor 402 instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
将所述确定的机型信息发送给所述电调系统，以使所述电调根据所述确定的机型信息从所述多种机型信息对应的电调控制参数中选中用于控制所述无人机的动力电机的目标电调控制参数。Send the determined model information to the ESC system, so that the ESC selects from the ESC control parameters corresponding to the various model information according to the determined model information to control the ESC. Describe the target ESC control parameters of the power motor of the UAV.
进一步地，所述无人机包括本地存储装置，所述处理器402指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：Further, the UAV includes a local storage device, and the processor 402 instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the UAV. When the power motor is used, it is specifically used for:
根据所述确定的机型信息从所述本地存储装置获取所述目标电调控制参数；Acquire the target ESC control parameter from the local storage device according to the determined model information;
将所述目标电调控制参数发送给所述电调系统，以使所述电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。Sending the target ESC control parameters to the ESC system, so that the ESC uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
进一步地，所述无人机包括机型认证装置，所述机型认证装置包括机型认证接口；所述处理器402确定无人机的机型信息时，具体用于：Further, the UAV includes a model authentication device, and the model authentication device includes a model authentication interface; when the processor 402 determines the model information of the UAV, it is specifically used for:
获取所述机型认证接口的电平信息；Obtain the level information of the model authentication interface;
根据所述电平信息确定所述无人机的机型信息。The model information of the UAV is determined according to the level information.
进一步地，所述无人机包括用于存储无人机的机型信息的存储装置；所述处理器402确定无人机的机型信息时，具体用于：Further, the UAV includes a storage device for storing the model information of the UAV; when the processor 402 determines the model information of the UAV, it is specifically used for:
获取所述存储装置发送的无人机的机型信息。Obtain the model information of the drone sent by the storage device.
进一步地，所述处理器402还用于：Further, the processor 402 is also used for:
对所述电调系统中的电调进行编址；addressing the ESCs in the ESC system;
确定编址成功的电调的数量；Determine the number of successfully addressed ESCs;
确定与所述确定的机型信息对应的电调的目标数量；determining the target number of ESCs corresponding to the determined model information;
若所述编址成功的电调的数量与所述目标数量不一致时，输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the number of successfully addressed ESCs is inconsistent with the target number, the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal.
进一步地，所述处理器402指示所述电调系统中的电调使用与所述确定的 机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：Further, when the processor 402 instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
若所述编址成功的电调的数量与所述目标数量一致时，指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。If the number of successfully addressed ESCs is consistent with the target number, instruct the ESCs in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the unmanned The power motor of the machine.
进一步地，所述处理器402还用于：Further, the processor 402 is also used for:
若所述多种机型信息不包括所述确定的机型信息时，输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the multiple model information does not include the determined model information, output the second fault information, or prohibit the drone from taking off or prohibit responding to the control command of the control terminal.
进一步地，所述电调控制参数包括所述电调的速度环的控制系数、电流环的控制系数、控制杆量与电机的控制量的对应关系中的至少一个。Further, the ESC control parameter includes at least one of a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a control rod quantity and a control quantity of the motor.
本发明实施例中，无人机的管理设备可以确定无人机的机型信息，并根据确定的机型信息指示无人机的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机，以实现不同机型的无人机可以共用一个电调系统，解决了现有技术中不同机型的无人机需要更换不同的电调系统的问题，降低了用户对无人机的操作复杂度、维修技术难度和成本，提高了对无人机管理的效率和灵活性。In the embodiment of the present invention, the management device of the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the ESC corresponding to the determined model information according to the determined model information. The target ESC control parameters control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the need to replace different ESC systems for different types of UAVs in the prior art. It reduces the user's operational complexity, maintenance technical difficulty and cost of UAVs, and improves the efficiency and flexibility of UAV management.
本发明实施例还提供了一种无人机，所述无人机包括：机身；配置在机身上的动力系统，用于为无人机提供飞行动力；电调系统，包括一个或多个电调，用于控制无人机的动力电机；An embodiment of the present invention also provides an unmanned aerial vehicle, the unmanned aerial vehicle comprising: a fuselage; a power system configured on the fuselage for providing flying power for the unmanned aerial vehicle; and an electric regulation system, including one or more An ESC to control the power motor of the drone;
处理器，用于确定无人机的机型信息；指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。a processor for determining the model information of the UAV; instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, The target ESC control parameters are selected from ESC control parameters corresponding to various model information according to the determined model information.
进一步地，所述多种机型信息对应的电调控制参数预存在所述电调中。Further, the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
进一步地，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：Further, when the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
将所述确定的机型信息发送给所述电调系统，以使所述电调根据所述确定的机型信息从所述多种机型信息对应的电调控制参数中选中用于控制所述无人机的动力电机的目标电调控制参数。Send the determined model information to the ESC system, so that the ESC selects from the ESC control parameters corresponding to the various model information according to the determined model information to control the ESC. Describe the target ESC control parameters of the power motor of the UAV.
进一步地，所述无人机包括本地存储装置，所述处理器指示所述电调系统 中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：Further, the UAV includes a local storage device, and the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the UAV. When the power motor is used, it is specifically used for:
根据所述确定的机型信息从所述本地存储装置获取所述目标电调控制参数；Acquire the target ESC control parameter from the local storage device according to the determined model information;
将所述目标电调控制参数发送给所述电调系统，以使所述电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。Sending the target ESC control parameters to the ESC system, so that the ESC uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
进一步地，所述无人机包括机型认证装置，所述机型认证装置包括机型认证接口；所述处理器确定无人机的机型信息时，具体用于：Further, the unmanned aerial vehicle includes a model authentication device, and the model authentication device includes a model authentication interface; when the processor determines the model information of the unmanned aerial vehicle, it is specifically used for:
获取所述机型认证接口的电平信息；Obtain the level information of the model authentication interface;
根据所述电平信息确定所述无人机的机型信息。The model information of the UAV is determined according to the level information.
进一步地，所述无人机包括用于存储无人机的机型信息的存储装置；所述处理器确定无人机的机型信息时，具体用于：Further, the UAV includes a storage device for storing the model information of the UAV; when the processor determines the model information of the UAV, it is specifically used for:
获取所述存储装置发送的无人机的机型信息。Obtain the model information of the drone sent by the storage device.
进一步地，所述处理器还用于：Further, the processor is also used for:
对所述电调系统中的电调进行编址；addressing the ESCs in the ESC system;
确定编址成功的电调的数量；Determine the number of successfully addressed ESCs;
确定与所述确定的机型信息对应的电调的目标数量；determining the target number of ESCs corresponding to the determined model information;
若所述编址成功的电调的数量与所述目标数量不一致时，输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the number of successfully addressed ESCs is inconsistent with the target number, the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal.
进一步地，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：Further, when the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, it is specifically used for:
若所述编址成功的电调的数量与所述目标数量一致时，指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。If the number of successfully addressed ESCs is consistent with the target number, instruct the ESCs in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the unmanned The power motor of the machine.
进一步地，所述处理器还用于：Further, the processor is also used for:
若所述多种机型信息不包括所述确定的机型信息时，输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the multiple model information does not include the determined model information, output the second fault information, or prohibit the drone from taking off or prohibit responding to the control command of the control terminal.
进一步地，所述电调控制参数包括所述电调的速度环的控制系数、电流环的控制系数、控制杆量与电机的控制量的对应关系中的至少一个。Further, the ESC control parameter includes at least one of a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a control rod quantity and a control quantity of the motor.
本发明实施例中，无人机可以确定无人机的机型信息，并根据确定的机型 信息指示无人机的电调系统中的电调使用与该确定的机型信息对应的目标电调控制参数控制无人机的动力电机，以实现不同机型的无人机可以共用一个电调系统，解决了现有技术中不同机型的无人机需要更换不同的电调系统的问题，降低了用户对无人机的操作复杂度、维修技术难度和成本，提高了对无人机管理的效率和灵活性。In the embodiment of the present invention, the UAV can determine the model information of the UAV, and instruct the ESC in the ESC system of the UAV to use the target voltage corresponding to the determined model information according to the determined model information. Adjust the control parameters to control the power motor of the UAV, so that different types of UAVs can share one ESC system, which solves the problem that different types of UAVs need to replace different ESC systems in the prior art. It reduces the user's operational complexity, maintenance technical difficulty and cost of UAVs, and improves the efficiency and flexibility of UAV management.
本发明的实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明实施例中描述的方法，也可实现本发明所对应实施例的设备，在此不再赘述。Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, or it can be implemented The devices of the corresponding embodiments of the present invention will not be repeated here.
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述设备所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card equipped on the device , Flash Card (Flash Card) and so on. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the apparatus. The computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosure is only a part of the embodiments of the present invention, and of course, it cannot limit the scope of the rights of the present invention, so the equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims (31)

  1. 一种无人机的管理方法，所述无人机包括用于控制无人机的动力电机的电调系统，所述电调系统包括一个或多个电调，其特征在于，所述方法包括：A management method of an unmanned aerial vehicle, the unmanned aerial vehicle includes an electric regulation system for controlling the power motor of the unmanned aerial vehicle, the electric regulation system includes one or more electric regulation, characterized in that the method includes :
    确定无人机的机型信息；Determine the model information of the UAV;
    指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。Instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, wherein the target ESC control parameters are determined according to the determined model information. The model information is selected from the ESC control parameters corresponding to various model information.
  2. 根据权利要求1所述的方法，其特征在于，所述多种机型信息对应的电调控制参数预存在所述电调中。The method according to claim 1, wherein the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
  3. 根据权利要求2所述的方法，其特征在于，所述指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，包括：The method according to claim 2, wherein the instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV ,include:
    将所述确定的机型信息发送给所述电调系统，以使所述电调根据所述确定的机型信息从所述多种机型信息对应的电调控制参数中选中用于控制所述无人机的动力电机的目标电调控制参数。Send the determined model information to the ESC system, so that the ESC selects from the ESC control parameters corresponding to the various model information according to the determined model information to control the ESC. Describe the target ESC control parameters of the power motor of the UAV.
  4. 根据权利要求3所述的方法，其特征在于，所述无人机包括本地存储装置，所述指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，包括：The method according to claim 3, wherein the unmanned aerial vehicle comprises a local storage device, and the instructing the ESC in the ESC system to use the target ESC control corresponding to the determined model information Parameters controlling the power motors of the drone include:
    根据所述确定的机型信息从所述本地存储装置获取所述目标电调控制参数；Acquire the target ESC control parameter from the local storage device according to the determined model information;
    将所述目标电调控制参数发送给所述电调系统，以使所述电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。Sending the target ESC control parameters to the ESC system, so that the ESC uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
  5. 根据权利要求1所述的方法，其特征在于，所述无人机包括机型认证装置，所述机型认证装置包括机型认证接口；所述确定无人机的机型信息，包括：The method according to claim 1, wherein the unmanned aerial vehicle comprises a model authentication device, and the model authentication device comprises a model authentication interface; the determining the model information of the unmanned aerial vehicle comprises:
    获取所述机型认证接口的电平信息；Obtain the level information of the model authentication interface;
    根据所述电平信息确定所述无人机的机型信息。The model information of the UAV is determined according to the level information.
  6. 根据权利要求1所述的方法，其特征在于，所述无人机包括用于存储无人机的机型信息的存储装置；所述确定无人机的机型信息，包括：The method according to claim 1, wherein the unmanned aerial vehicle comprises a storage device for storing the model information of the unmanned aerial vehicle; the determining the model information of the unmanned aerial vehicle comprises:
    获取所述存储装置发送的无人机的机型信息。Obtain the model information of the drone sent by the storage device.
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    对所述电调系统中的电调进行编址；addressing the ESCs in the ESC system;
    确定编址成功的电调的数量；Determine the number of successfully addressed ESCs;
    确定与所述确定的机型信息对应的电调的目标数量；determining the target number of ESCs corresponding to the determined model information;
    若所述编址成功的电调的数量与所述目标数量不一致时，输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the number of successfully addressed ESCs is inconsistent with the target number, the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal.
  8. 根据权利要求7所述的方法，其特征在于，所述指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，包括：The method according to claim 7, wherein the instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV ,include:
    若所述编址成功的电调的数量与所述目标数量一致时，指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。If the number of successfully addressed ESCs is consistent with the target number, instruct the ESCs in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the unmanned The power motor of the machine.
  9. 根据权利要求7所述的方法，其特征在于，所述方法还包括：The method according to claim 7, wherein the method further comprises:
    若所述多种机型信息不包括所述确定的机型信息时，输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the multiple model information does not include the determined model information, output the second fault information, or prohibit the drone from taking off or prohibit responding to the control command of the control terminal.
  10. 根据权利要求1所述的方法，其特征在于，所述电调控制参数包括所述电调的速度环的控制系数、电流环的控制系数、控制杆量与电机的控制量的对应关系中的至少一个。The method according to claim 1, wherein the ESC control parameters include a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a control rod quantity and a control quantity of the motor. at least one.
  11. 一种无人机的管理设备，所述无人机包括用于控制无人机的动力电机 的电调系统，所述电调系统包括一个或多个电调，其特征在于，所述设备包括：存储器和处理器；A management device for an unmanned aerial vehicle, the unmanned aerial vehicle includes an ESC system for controlling a power motor of the unmanned aerial vehicle, the ESC system includes one or more ESCs, and the device includes : memory and processor;
    所述存储器，用于存储程序指令；the memory for storing program instructions;
    所述处理器，用于调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：The processor is configured to invoke the program instruction, and when the program instruction is executed, is configured to perform the following operations:
    确定无人机的机型信息；Determine the model information of the UAV;
    指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。Instruct the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, wherein the target ESC control parameters are determined according to the determined model information. The model information is selected from the ESC control parameters corresponding to various model information.
  12. 根据权利要求11所述的设备，其特征在于，所述多种机型信息对应的电调控制参数预存在所述电调中。The device according to claim 11, wherein the ESC control parameters corresponding to the various model information are pre-stored in the ESC.
  13. 根据权利要求12所述的设备，其特征在于，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：The device according to claim 12, wherein the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the UAV. When the power motor is used, it is specifically used for:
    将所述确定的机型信息发送给所述电调系统，以使所述电调根据所述确定的机型信息从所述多种机型信息对应的电调控制参数中选中用于控制所述无人机的动力电机的目标电调控制参数。Send the determined model information to the ESC system, so that the ESC selects from the ESC control parameters corresponding to the various model information according to the determined model information to control the ESC. Describe the target ESC control parameters of the power motor of the UAV.
  14. 根据权利要求13所述的设备，其特征在于，所述无人机包括本地存储装置，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：The device according to claim 13, wherein the unmanned aerial vehicle comprises a local storage device, and the processor instructs the ESC in the ESC system to use the target ESC corresponding to the determined model information. When adjusting the control parameters to control the power motor of the UAV, it is specifically used for:
    根据所述确定的机型信息从所述本地存储装置获取所述目标电调控制参数；Acquire the target ESC control parameter from the local storage device according to the determined model information;
    将所述目标电调控制参数发送给所述电调系统，以使所述电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。Sending the target ESC control parameters to the ESC system, so that the ESC uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
  15. 根据权利要求11所述的设备，其特征在于，所述无人机包括机型认证装置，所述机型认证装置包括机型认证接口；所述处理器确定无人机的机型 信息时，具体用于：The device according to claim 11, wherein the unmanned aerial vehicle comprises a model authentication device, and the model authentication device comprises a model authentication interface; when the processor determines the model information of the unmanned aerial vehicle, Specifically for:
    获取所述机型认证接口的电平信息；Obtain the level information of the model authentication interface;
    根据所述电平信息确定所述无人机的机型信息。The model information of the UAV is determined according to the level information.
  16. 根据权利要求11所述的设备，其特征在于，所述无人机包括用于存储无人机的机型信息的存储装置；所述处理器确定无人机的机型信息时，具体用于：The device according to claim 11, wherein the unmanned aerial vehicle comprises a storage device for storing the model information of the unmanned aerial vehicle; when the processor determines the model information of the unmanned aerial vehicle, it is specifically used for :
    获取所述存储装置发送的无人机的机型信息。Obtain the model information of the drone sent by the storage device.
  17. 根据权利要求11所述的设备，其特征在于，所述处理器还用于：The device of claim 11, wherein the processor is further configured to:
    对所述电调系统中的电调进行编址；addressing the ESCs in the ESC system;
    确定编址成功的电调的数量；Determine the number of successfully addressed ESCs;
    确定与所述确定的机型信息对应的电调的目标数量；determining the target number of ESCs corresponding to the determined model information;
    若所述编址成功的电调的数量与所述目标数量不一致时，输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the number of successfully addressed ESCs is inconsistent with the target number, the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal.
  18. 根据权利要求17所述的设备，其特征在于，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：The device according to claim 17, wherein the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the UAV. When the power motor is used, it is specifically used for:
    若所述编址成功的电调的数量与所述目标数量一致时，指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。If the number of successfully addressed ESCs is consistent with the target number, instruct the ESCs in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the unmanned The power motor of the machine.
  19. 根据权利要求17所述的设备，其特征在于，所述处理器还用于：The device of claim 17, wherein the processor is further configured to:
    若所述多种机型信息不包括所述确定的机型信息时，输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the multiple model information does not include the determined model information, output the second fault information, or prohibit the drone from taking off or prohibit responding to the control command of the control terminal.
  20. 根据权利要求11所述的设备，其特征在于，所述电调控制参数包括所述电调的速度环的控制系数、电流环的控制系数、控制杆量与电机的控制量的对应关系中的至少一个。The device according to claim 11, wherein the ESC control parameters include a control coefficient of a speed loop of the ESC, a control coefficient of a current loop, and a corresponding relationship between a control rod quantity and a control quantity of the motor. at least one.
  21. 一种无人机，其特征在于，所述无人机包括：An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises:
    机身；body;
    配置在机身上的动力系统，用于为无人机提供飞行动力；The power system configured on the fuselage is used to provide flight power for the UAV;
    电调系统，包括一个或多个电调，用于控制无人机的动力电机；An ESC system, including one or more ESCs, used to control the power motor of the drone;
    处理器，用于确定无人机的机型信息；指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机，其中，所述目标电调控制参数是根据所述确定的机型信息从多种机型信息对应的电调控制参数中选中的。a processor for determining the model information of the UAV; instructing the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV, The target ESC control parameter is selected from ESC control parameters corresponding to various model information according to the determined model information.
  22. 根据权利要求21所述的无人机，其特征在于，所述多种机型信息对应的电调控制参数预存在所述电调中。The drone according to claim 21, wherein the ESC control parameters corresponding to the various types of model information are pre-stored in the ESC.
  23. 根据权利要求22所述的无人机，其特征在于，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：The drone according to claim 22, wherein the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the unmanned aerial vehicle When the power motor of the machine is used, it is specifically used for:
    将所述确定的机型信息发送给所述电调系统，以使所述电调根据所述确定的机型信息从所述多种机型信息对应的电调控制参数中选中用于控制所述无人机的动力电机的目标电调控制参数。Send the determined model information to the ESC system, so that the ESC selects from the ESC control parameters corresponding to the various model information according to the determined model information to control the ESC. Describe the target ESC control parameters of the power motor of the UAV.
  24. 根据权利要求23所述的无人机，其特征在于，所述无人机包括本地存储装置，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：The unmanned aerial vehicle according to claim 23, wherein the unmanned aerial vehicle comprises a local storage device, and the processor instructs the ESC in the ESC system to use the ESC corresponding to the determined model information. When the target ESC control parameter controls the power motor of the UAV, it is specifically used for:
    根据所述确定的机型信息从所述本地存储装置获取所述目标电调控制参数；Acquire the target ESC control parameter from the local storage device according to the determined model information;
    将所述目标电调控制参数发送给所述电调系统，以使所述电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。Sending the target ESC control parameters to the ESC system, so that the ESC uses the target ESC control parameters corresponding to the determined model information to control the power motor of the UAV.
  25. 根据权利要求21所述的无人机，其特征在于，所述无人机包括机型认证装置，所述机型认证装置包括机型认证接口；所述处理器确定无人机的机 型信息时，具体用于：The unmanned aerial vehicle according to claim 21, wherein the unmanned aerial vehicle comprises a model authentication device, and the model authentication device comprises a model authentication interface; the processor determines the model information of the unmanned aerial vehicle , specifically for:
    获取所述机型认证接口的电平信息；Obtain the level information of the model authentication interface;
    根据所述电平信息确定所述无人机的机型信息。The model information of the UAV is determined according to the level information.
  26. 根据权利要求21所述的无人机，其特征在于，所述无人机包括用于存储无人机的机型信息的存储装置；所述处理器确定无人机的机型信息时，具体用于：The unmanned aerial vehicle according to claim 21, wherein the unmanned aerial vehicle comprises a storage device for storing model information of the unmanned aerial vehicle; when the processor determines the model information of the unmanned aerial vehicle, the specific Used for:
    获取所述存储装置发送的无人机的机型信息。Obtain the model information of the drone sent by the storage device.
  27. 根据权利要求21所述的无人机，其特征在于，所述处理器还用于：The drone of claim 21, wherein the processor is further configured to:
    对所述电调系统中的电调进行编址；addressing the ESCs in the ESC system;
    确定编址成功的电调的数量；Determine the number of successfully addressed ESCs;
    确定与所述确定的机型信息对应的电调的目标数量；determining the target number of ESCs corresponding to the determined model information;
    若所述编址成功的电调的数量与所述目标数量不一致时，输出第一故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the number of successfully addressed ESCs is inconsistent with the target number, the first fault information is output, or the drone is prohibited from taking off or responding to the control command of the control terminal.
  28. 根据权利要求27所述的无人机，其特征在于，所述处理器指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机时，具体用于：The drone according to claim 27, wherein the processor instructs the ESC in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the unmanned aerial vehicle When the power motor of the machine is used, it is specifically used for:
    若所述编址成功的电调的数量与所述目标数量一致时，指示所述电调系统中的电调使用与所述确定的机型信息对应的目标电调控制参数控制所述无人机的动力电机。If the number of successfully addressed ESCs is consistent with the target number, instruct the ESCs in the ESC system to use the target ESC control parameters corresponding to the determined model information to control the unmanned The power motor of the machine.
  29. 根据权利要求27所述的无人机，其特征在于，所述处理器还用于：The drone of claim 27, wherein the processor is further configured to:
    若所述多种机型信息不包括所述确定的机型信息时，输出第二故障信息，或者禁止无人机起飞或者禁止响应控制终端的控制指令。If the multiple model information does not include the determined model information, output the second fault information, or prohibit the drone from taking off or prohibit responding to the control command of the control terminal.
  30. 根据权利要求21所述的无人机，其特征在于，所述电调控制参数包括所述电调的速度环的控制系数、电流环的控制系数、控制杆量与电机的控制量的对应关系中的至少一个。The unmanned aerial vehicle of claim 21, wherein the ESC control parameters include a control coefficient of the speed loop of the ESC, a control coefficient of a current loop, and the corresponding relationship between the control rod quantity and the control quantity of the motor at least one of the.
  31. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至10任一项所述方法。A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.
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