WO2023245480A1

WO2023245480A1 - Fault detection method and apparatus for phase voltage sampling circuit, and movable platform

Info

Publication number: WO2023245480A1
Application number: PCT/CN2022/100354
Authority: WO
Inventors: 伍锡坤; 李粮; 马晨旭; 刘以奋; 田赫; 郭善光
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2023-12-28

Abstract

A fault detection method and apparatus for a phase voltage sampling circuit, and a movable platform, wherein a phase voltage sampling circuit comprises a microcontroller and a resistor circuit connected to the microcontroller: inputting an excitation signal to the resistor circuit by means of the microcontroller; acquiring a response signal corresponding to the excitation signal and generated by the resistor circuit; and, on the basis of the response signal, detecting whether the phase voltage sampling circuit has a fault. Without an external test apparatus and without occupying excessive microcontroller resources, the technical solution provided by the present embodiments can judge whether an open-circuit fault occurs in a neutral point resistor circuit during three-phase voltage sampling, thus improving stability and reliability of controlling a permanent magnet motor.

Description

Fault detection method, device and movable platform for phase voltage sampling circuit

Technical field

Embodiments of the present invention relate to the technical field of permanent magnet motors, and in particular to a fault detection method, device and movable platform for a phase voltage sampling circuit.

Background technique

The permanent magnet motor is a motor that can realize the mutual conversion between the direct current in the external circuit and the alternating current in the armature winding, and at the same time use the static air gap to realize the mutual conversion between the AC in the armature winding and the mechanical torque on the rotating shaft. For a permanent magnet motor without a position sensor, its drive circuit can include a sampling circuit for signal sampling of the permanent magnet motor. When the sampling circuit is a voltage sampling circuit, the microcontroller can use the voltage sampling circuit to sample the motor's signal. The back electromotive force is extracted, and after zero-crossing comparison, the position sector of the motor rotor can be estimated. Then, by passing a current in a specified direction to the stator winding of the motor, the permanent magnet motor can operate normally without a position sensor.

When controlling a permanent magnet motor to work, when a fault such as an open circuit occurs in the voltage sampling circuit, the motor's back electromotive force extraction will be abnormal. At this time, the extracted voltage information will be lost, which will easily lead to the commutation of the permanent magnet synchronous motor. Lost steps will occur. It can be seen from the above that since the operating status of the voltage sampling circuit directly affects the operating status of the permanent magnet motor, it is very necessary to perform fault detection on the voltage sampling circuit.

Contents of the invention

Embodiments of the present invention provide a fault detection method, device and movable platform for a phase voltage sampling circuit, which can determine whether a fault occurs in the sampling circuit. This facilitates the use of different methods to locate the fault point based on the fault detection results of the sampling circuit. This is beneficial to improving the stability and reliability of controlling the permanent magnet motor.

A first aspect of the present invention is to provide a fault detection method for a phase voltage sampling circuit. The phase voltage sampling circuit can be used to collect phase voltages of a permanent magnet motor. The phase voltage sampling circuit includes a microcontroller. and a resistor circuit connected to the microcontroller; the method includes:

Input an excitation signal to the resistor circuit through the microcontroller;

Obtaining a response signal generated by the resistance circuit corresponding to the excitation signal;

Based on the response signal, it is detected whether a fault occurs in the phase voltage sampling circuit.

The second aspect of the present invention is to provide a fault detection device for a phase voltage sampling circuit. The phase voltage sampling circuit can be used to collect phase voltages of a permanent magnet motor. The phase voltage sampling circuit includes a microcontroller. and a resistor circuit connected to the microcontroller; the fault detection device includes:

Memory, used to store computer programs;

A processor configured to run a computer program stored in the memory to:

Input an excitation signal to the resistor circuit through the microcontroller;

A third aspect of the invention is to provide a movable platform, including:

Platform subject;

A permanent magnet motor, installed on the main body of the platform;

A phase voltage sampling circuit, used to collect the phase voltage of the permanent magnet motor;

The fault detection device of the phase voltage sampling circuit described in the above second aspect is used to perform fault detection operation on the phase voltage sampling circuit.

The fourth aspect of the present invention is to provide a computer-readable storage medium. The storage medium is a computer-readable storage medium. Program instructions are stored in the computer-readable storage medium. The program instructions are used for the first aspect. The fault detection method of the phase voltage sampling circuit described above.

The fifth aspect of the present invention is to provide an unmanned aerial vehicle, including:

fuselage, including back and belly;

A pan-tilt is used to carry shooting equipment. The pan-tilt is rotatably connected to the fuselage. The pan-tilt can rotate from one of the back and abdomen of the fuselage to the other.

The technical solution provided by the embodiment of the present invention inputs an excitation signal to the resistor circuit through a microcontroller, obtains a response signal generated by the resistor circuit corresponding to the excitation signal, and then detects whether a fault occurs in the phase voltage sampling circuit based on the response signal, which is convenient The fault detection results based on the sampling circuit use different methods to locate the fault point. For example: when the phase voltage sampling circuit fails, the fault location point is determined based on the response signal, effectively eliminating the need for a permanent magnet motor and a voltage sampling circuit. When there is an open circuit between them, it can be judged whether there is an open circuit fault in the three-phase voltage sampling neutral point resistor circuit without external testing equipment and without occupying redundant resources of the microcontroller, which will help improve the stability of the control of the permanent magnet motor. The reliability further improves the practicability of the control method and is conducive to market promotion and application.

Description of the drawings

The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the attached picture:

Figure 1 is a schematic diagram of a control method of a permanent magnet motor provided in the related art;

Figure 2 is a schematic diagram of the principle of a phase voltage sampling circuit of a permanent magnet motor provided in the related art;

Figure 3 is a schematic diagram of the principle of a fault detection method for a phase voltage sampling circuit provided by an embodiment of the present invention;

Figure 4 is a schematic flow chart of a fault detection method for a phase voltage sampling circuit provided by an embodiment of the present invention;

Figure 5 is a schematic diagram 1 of inputting an excitation signal to a resistor circuit through a microcontroller according to an embodiment of the present invention;

Figure 6 is a schematic diagram 2 of inputting an excitation signal to a resistor circuit through a microcontroller according to an embodiment of the present invention;

Figure 7 is a schematic flow chart of inputting an excitation signal to a resistor circuit through a microcontroller according to an embodiment of the present invention;

Figure 8 is a schematic flow chart of a fault detection method for a phase voltage sampling circuit provided by an application embodiment of the present invention;

Figure 9 is a schematic structural diagram of a fault detection device of a phase voltage sampling circuit provided by an embodiment of the present invention;

Figure 10 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention;

Figure 11 is a schematic structural diagram of a drone provided by an embodiment of the present invention;

Figure 12 is a schematic structural diagram 2 of a drone provided by an embodiment of the present invention;

Figure 13 is a schematic structural diagram three of a drone provided by an embodiment of the present invention;

Figure 14 is a schematic structural diagram of a power assembly provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention.

In order to be able to understand the specific implementation process and implementation principles of the technical solution in this embodiment, the relevant technology will be described below:

The permanent magnet motor is a motor that can realize the mutual conversion between the direct current in the external circuit and the alternating current in the armature winding, and at the same time use the static air gap to realize the mutual conversion between the AC in the armature winding and the mechanical torque on the rotating shaft. For permanent magnet motors, the control methods of permanent magnet motors can be divided into control methods with position sensors and control methods without position sensors according to the source of the position signal. As shown in Figure 1, when the microcontroller starts, there is The control method of the position sensor can directly use the position signal given by the position sensor and the speed signal calculated thereby to control the electromagnetic motor. The electromagnetic motor will be quickly controlled and started.

For the position sensorless control method, since there is no position sensor, it is necessary to obtain voltage and current information to indirectly estimate the position of the rotor. According to the type of information obtained, position sensorless control methods can be divided into: methods that use phase voltage to estimate the rotor position and methods that use phase current to estimate the rotor position. A typical method that uses phase current information to control permanent magnet motors is the sine wave vector control method. This control method has the advantages of low operating noise and high efficiency.

A typical method of using phase voltage information to control a permanent magnet motor is the square wave control method. At this time, for a permanent magnet motor without a position sensor, the drive circuit can include a phase signal sampling signal for the permanent magnet motor. Voltage sampling circuit (corresponding to the voltage sampling neutral point resistor network in Figure 2). The block diagram of square wave control of the permanent magnet motor based on the phase voltage sampling circuit is shown in Figure 2. The microcontroller can then sample the phase voltage through the phase voltage sampling circuit. The circuit extracts the back electromotive force of the motor and performs zero-crossing comparison to estimate the position sector of the motor rotor. Specifically, the position interval of the rotor can be divided into six sectors. Based on the zero-crossing comparison result and the above six sectors, The position sector of the motor rotor can be estimated from one sector, and then the current in the specified direction can be passed to the stator winding of the motor based on the determined position, thereby achieving the normal operation of the permanent magnet motor without a position sensor. .

When using the phase voltage sampling circuit to detect the zero-crossing point to drive the permanent magnet motor to run, if there is one or more open circuit faults in the phase voltage sampling circuit, the counter electromotive force extraction operation of the permanent magnet motor will be abnormal because there is no position sensor to provide the position. signal, and the extracted voltage information is lost. Therefore, the commutation of the permanent magnet motor will cause a step loss problem, that is, the starting and operation of the permanent magnet motor will be abnormal. Since there are many sources of faults that cause abnormal startup and operation of permanent magnet motors, it causes many difficulties in fault location and maintenance of the phase voltage sampling circuit. Therefore, fault detection of the phase voltage sampling circuit is very necessary.

At present, the open-circuit detection method of the sampling resistor network is to apply an excitation voltage or current signal to the resistor network directly or indirectly. Based on the response of the excitation signal and referring to the characteristics of normal and failure conditions, it can be judged whether the resistor network has Open circuit failure. Specifically, there are generally two ways to implement the existing detection voltage sampling circuit:

Implementation method 1: The voltage sampling circuit is additionally equipped with an inverter circuit. By sequentially turning on the power devices in the inverter circuit, the excitation signal is applied to the voltage sampling circuit, and the sampled voltage signal is judged to see whether there is any change to determine whether there is an open circuit in the sampling circuit. . In this implementation, when the permanent magnet motor is connected to the driver, since the winding impedance of the permanent magnet motor is very small, the three-phase voltage sampling circuit will be connected and coupled. In this way, it can only identify whether there is an open circuit in the three-way voltage dividing sampling circuit. Failure, it is impossible to determine whether an open circuit fault occurs in the neutral point connection network.

Implementation method two: Use an external impedance tester to test the phase-to-phase impedance when the output is open circuit, and judge whether the resistor network is open circuit based on the absolute value difference and symmetry of the three-way impedance. This implementation method is relatively simple and reliable, but it needs to rely on external Measuring equipment, and it can only be detected when the driver output is open circuit.

In order to solve the above technical problems, this embodiment provides a fault detection method, device and movable platform for a phase voltage sampling circuit. As shown in FIG. 3, the phase voltage sampling circuit is used to measure the phase voltage of a permanent magnet motor. For the collection operation, the phase voltage sampling circuit includes a microcontroller and a resistance circuit connected to the microcontroller; specifically, the fault detection method may include: inputting an excitation signal to the resistance circuit through the microcontroller; obtaining the excitation signal generated by the resistance circuit and the excitation A response signal corresponding to the signal; detecting whether a fault occurs in the phase voltage sampling circuit based on the response signal; when a fault occurs in the phase voltage sampling circuit, determine the fault location point based on the response signal.

Below, some embodiments of a fault detection method, device and movable platform for a phase voltage sampling circuit in the present invention will be described in detail with reference to the accompanying drawings. The following embodiments and features in the embodiments may be combined with each other as long as there is no conflict between the embodiments.

Referring to Figures 3-4, this embodiment provides a fault detection method for a phase voltage sampling circuit, wherein the phase voltage sampling circuit is used to collect phase voltages of permanent magnet motors, and the phase voltage sampling circuit includes A microcontroller and a resistor circuit connected to the microcontroller; the execution subject of the fault detection method can be a fault detection device, and the fault detection device can be communicatively connected with the microcontroller, or the fault detection device can be integrated in the microcontroller , it should be noted that when performing fault detection operations, the phase voltage sampling circuit and the permanent magnet motor can be connected or disconnected. Specifically, the fault detection method of the phase voltage sampling circuit in this embodiment may include:

Step S401: Input an excitation signal to the resistor circuit through the microcontroller.

Step S402: Obtain the response signal generated by the resistor circuit and corresponding to the excitation signal.

Step S403: Based on the response signal, detect whether a fault occurs in the phase voltage sampling circuit.

The specific implementation process and implementation effects of each of the above steps are described in detail below:

Among them, in order to collect the phase voltage of the permanent magnet motor through the phase voltage sampling circuit, the excitation signal can be input to the resistor circuit through the microcontroller. In some examples, the fault detection device can send control instructions to the microcontroller, So that the microcontroller can input an excitation signal to the resistor circuit based on the control instruction.

For permanent magnet motors, since permanent magnet motors often require three-phase power to drive and operate, the permanent magnet motor corresponds to three-phase voltages. At this time, the phase voltage sampling circuit used to collect the phase voltage of the permanent magnet motor can It includes three circuits. Specifically, the resistance circuit may include three sub-circuits for collecting three-phase voltages. For example, the resistance circuit may include a first circuit, a second circuit and a third circuit, respectively used for collecting the voltage of the permanent magnet motor. The first phase voltage, the second phase voltage, and the third phase voltage.

Since the resistor circuit can include multiple branch circuits for collecting three-phase voltages, when the excitation signal is input to the resistor circuit, the excitation signals can be input to the three branch circuits for collecting three-phase voltages synchronously or asynchronously. In some examples, inputting the excitation signal to the voltage sampling resistor network through the microcontroller may include: asynchronously inputting the excitation signal to the first circuit, the second circuit and the third circuit in the resistor circuit through the microcontroller; wherein, the first circuit The second circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the third phase voltage of the permanent magnet motor.

For example, as shown in Figure 5, the permanent magnet motor may correspond to A-phase voltage, B-phase voltage and C-phase voltage. The resistor circuit communicatively connected to the microcontroller may include a first circuit for collecting the A-phase voltage, The second circuit for collecting the B-phase voltage and the third circuit for collecting the C-phase voltage, and then through the microcontroller, the excitation signal can be input to the first circuit at time t1 to detect whether the first circuit is faulty; After detecting whether the first circuit is faulty, the excitation signal can be input to the second circuit at time t2 to detect whether the second circuit is faulty. After detecting whether the second circuit is faulty, the excitation signal can be input to the third circuit at time t3. Input the excitation signal to detect whether the third circuit is faulty; thereby effectively realizing that the first circuit and the second circuit in the resistor circuit can be asynchronously supplied in the order of A-phase acquisition circuit - B-phase acquisition circuit - C-phase acquisition circuit. and the third circuit input excitation signal.

It should be noted that the sequence of asynchronous input excitation signals is not limited to the above-mentioned sequence of A-phase acquisition circuit - B-phase acquisition circuit - C-phase acquisition circuit. Those skilled in the art can adjust the asynchronous input excitation according to specific application scenarios or application requirements. The sequence of signals can be adjusted in any order, for example: the sequence of B-phase acquisition circuit-A-phase acquisition circuit-C-phase acquisition circuit, the sequence of A-phase acquisition circuit-C phase acquisition circuit-B-phase acquisition circuit, the sequence of B-phase acquisition circuit-C The sequence of phase acquisition circuit - phase A acquisition circuit, the sequence of phase C acquisition circuit - phase A acquisition circuit - phase B acquisition circuit, the sequence of phase C acquisition circuit - phase B acquisition circuit - phase A acquisition circuit will not be repeated here. .

In some further examples, inputting the excitation signal to the voltage sampling resistor network through the microcontroller may include: synchronously inputting different excitation signals to the first circuit, the second circuit and the third circuit in the resistor circuit through the microcontroller; wherein, The first circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the third phase voltage of the permanent magnet motor.

For example, as shown in Figure 6, the permanent magnet motor can correspond to A-phase voltage, B-phase voltage and C-phase voltage. The resistor circuit connected by the microcontroller communication can include a first circuit for collecting the A-phase voltage. The second circuit is used to collect the B-phase voltage and the third circuit is used to collect the C-phase voltage, and then the microcontroller can synchronously input different excitation signals to the first circuit, the second circuit and the third circuit at time t1, for example : At time t1, the excitation signal 1 is synchronously input to the first circuit, the excitation signal 2 is input to the second circuit, and the excitation signal 3 is input to the third circuit. The above excitation signal 1, excitation signal 2 and excitation signal 3 are different and valid. The ground realizes that the excitation signal can be input to the first circuit, the second circuit and the third circuit synchronously, and then the fault detection operation can be performed on the phase voltage sampling circuit based on the excitation signal.

After inputting the excitation signal to the resistor circuit, in order to detect whether the resistor circuit is faulty, the response signal generated by the resistor circuit corresponding to the excitation signal can be obtained. Specifically, the resistor circuit can be obtained through a sensing device or a microcontroller. The generated response signal corresponding to the excitation signal.

It should be noted that when excitation signals are input to different circuits in the resistive circuit, different response signals generated by the resistive circuit corresponding to the excitation signals can be detected. Specifically, when the excitation signal is asynchronously input to the first circuit, the second circuit and the third circuit in the resistance circuit through the microcontroller, at this time, the response signal obtained is consistent with the first circuit, the second circuit and the resistance circuit in the resistance circuit. The excitation signal of one of the third circuits corresponds.

For example, when an excitation signal is input to the first circuit in the resistive circuit at time t1, the response signal obtained corresponds to the excitation signal of the first circuit; when an excitation signal is input to the second circuit in the resistive circuit at time t2 , the response signal obtained corresponds to the excitation signal of the second circuit; when the excitation signal is input to the third circuit in the resistor circuit at time t3, the response signal obtained corresponds to the excitation signal of the third circuit.

In other examples, when different excitation signals are input to different circuits in the resistive circuit at the same time, the response signals generated by the resistive circuit corresponding to all the different excitation signals can be detected. Specifically, when different excitation signals are input to the first circuit, the second circuit and the third circuit in the resistance circuit synchronously through the microcontroller, at this time, the response signal obtained is the same as that of the first circuit, the second circuit in the resistance circuit. circuit corresponds to all excitation signals of the third circuit. For example, when the excitation signal 1, the second circuit, and the third circuit in the resistive circuit are input to the first circuit, excitation signal 2, and third circuit 3 simultaneously at time t1, the response signal obtained is the same as the above-mentioned excitation signal 1, Excitation signal 2 corresponds to excitation signal 3.

After the response signal is obtained, the response signal can be analyzed and processed to detect whether a fault occurs in the phase voltage sampling circuit. In some examples, detecting whether a fault occurs in the phase voltage sampling circuit based on the response signal may include: obtaining a standard response signal corresponding to the excitation signal. The standard response signal is used to identify that the resistance circuit is in a normal state; based on the standard response signal and the response signal , detect whether the phase voltage sampling circuit is faulty.

Specifically, when an excitation signal is input to the resistor circuit, a standard response signal corresponding to the excitation signal is pre-configured. In order to accurately detect whether a fault occurs in the phase voltage sampling circuit, the standard response corresponding to the excitation signal can be obtained first. signal, the standard response signal can be stored in the preset area. At this time, the standard response signal corresponding to the excitation signal can be obtained by accessing the preset area; the standard signal can be stored in a third device, through active or passive A standard response signal corresponding to the excitation signal is obtained through the third device, and the standard response signal is used to identify that the resistance circuit is in a normal state.

After the standard response signal is obtained, the standard response signal and the response signal can be analyzed and processed to detect whether a fault occurs in the phase voltage sampling circuit. In some examples, detecting whether a fault occurs in the phase voltage sampling circuit based on the standard response signal and the response signal may include: obtaining a machine learning model for analyzing and processing the standard response signal and the response signal, and inputting the standard response signal and the response signal. to the machine learning model, so that the detection results output by the machine learning model can be obtained, and the detection results are used to identify whether a fault occurs in the phase voltage sampling circuit.

In other examples, detecting whether a fault occurs in the phase voltage sampling circuit based on the standard response signal and the response signal may include: comparing the standard response signal with the response signal, and detecting whether a fault occurs in the phase voltage sampling circuit based on the comparison result, specifically , when the response signal is less than the standard response signal, it is determined that the phase voltage sampling circuit is faulty; when the response signal is equal to the standard response signal, it is determined that the phase voltage sampling circuit is not faulty.

Specifically, after obtaining the standard response signal and the response signal, the standard response signal and the response signal can be analyzed and compared. When the response signal is smaller than the standard response signal, it means that the phase voltage sampling circuit at this time has not reached the ideal operation. status, and then it can be determined that the phase voltage sampling circuit is faulty. When the response signal is equal to the standard response signal, it is determined that the phase voltage sampling circuit has reached the ideal operating state, and further it can be determined that the phase voltage sampling circuit is not faulty.

In still other examples, detecting whether the phase voltage sampling circuit is faulty based on the response signal may include: obtaining a pre-excitation signal generated by the resistor circuit before inputting the excitation signal to the resistor circuit through the microcontroller; based on the pre-excitation signal and the response signal , detect whether the phase voltage sampling circuit is faulty.

Among them, for the phase voltage sampling circuit, after the excitation signal is input to the resistor circuit through the microcontroller, under normal circumstances, when the phase voltage sampling circuit is operating normally, the pre-excitation signal and the response signal will be different. Therefore, it can be obtained by The pre-excitation signal and response signal generated by the resistor circuit are used to detect whether the phase voltage sampling circuit is faulty. Specifically, before inputting an excitation signal to the resistor circuit through the microcontroller, the sensing device can perform a signal collection operation on the resistor circuit, so as to obtain the pre-excitation signal generated by the resistor circuit.

After obtaining the pre-excitation signal and the response signal, the pre-excitation signal and the response signal can be analyzed and processed to detect whether the phase voltage sampling circuit is faulty. In some examples, pre-training is used to detect whether the phase voltage sampling circuit is faulty. The machine learning model of Whether the sampling circuit is faulty.

In other examples, based on the pre-excitation signal and the response signal, detecting whether the phase voltage sampling circuit is faulty may include: obtaining the signal difference between the pre-excitation signal and the response signal; based on the signal difference, detecting whether the phase voltage sampling circuit is faulty. error occured.

Specifically, based on the signal difference, detecting whether the phase voltage sampling circuit is faulty may include: when the signal difference is greater than or equal to the preset threshold, determining that the phase voltage sampling circuit is not faulty; when the signal difference is less than the preset threshold , then it is determined that the phase voltage sampling circuit is faulty.

For example, after obtaining the pre-excitation signal S1 and the response signal S2, you can first obtain the signal difference ΔS between the pre-excitation signal S1 and the response signal S2. The signal difference ΔS=S1-S2 or the signal difference ΔS =S2-S1.

After obtaining the signal difference ΔS, the signal difference ΔS can be analyzed and compared with the preset threshold Sth. When ΔS≥Sth, it means that the response change of the phase voltage sampling circuit before and after the excitation signal input meets the normal operating status, and then It can be determined that the phase voltage sampling circuit is not faulty; when ΔS<Sth, it means that the response change of the phase voltage sampling circuit before and after the excitation signal input does not meet the normal operating status, and then it can be determined that the phase voltage sampling circuit is faulty, thus effectively realizing In order to be able to detect whether a fault occurs in the phase voltage sampling circuit based on the response signal.

In some examples, the method in this embodiment may further include: when a fault occurs in the phase voltage sampling circuit, the response signal is also used to determine the fault location point. Among them, when a fault occurs in the phase voltage sampling circuit, in order to enable the user to accurately understand the specific fault location, after obtaining the response signal, the response signal can be analyzed and processed to determine the fault location.

It should be understood that after obtaining the response signal, the microcontroller can determine whether a fault occurs in the sampling circuit, and based on determining that a fault occurs, further analysis is performed to determine the fault location. In this way, it is convenient for the user to decide whether he or she only needs the microcontroller to output error information indicating a fault in the sampling circuit, or whether the microcontroller needs to output error information indicating a specific fault location. Alternatively, after obtaining the response signal, the microcontroller can determine the fault location in one step, and the microcontroller can directly output the error message of the fault location.

In other examples, when the excitation signal is asynchronously input to the first circuit, the second circuit and the third circuit in the resistor circuit through the microcontroller, since the response signal obtained is different from the first circuit, the second circuit in the resistor circuit Corresponding to the excitation signal of one of the third circuits, at this time, determining the fault location point based on the response signal may include: determining the target circuit corresponding to the response signal, where the target circuit is the first circuit, the second circuit, and the third circuit. Any one; determine the target circuit as the fault location point.

Specifically, since the response signals generated by different branches in the resistor circuit may be different, after obtaining the response signal, the response signal can be analyzed and processed to determine the target circuit corresponding to the response signal. For example, The response signal may include branch identification information corresponding to the branch where it is located, and the target circuit corresponding to the corresponding signal can be determined through the branch identification information; or, there is a mapping relationship between the response signal and the target circuit, and the mapping relationship is The target circuit corresponding to the response signal can be determined, and the target circuit can be any one of the first circuit, the second circuit, and the third circuit.

Since the response signal is used to identify the target circuit where it is faulty, after determining the target circuit corresponding to the response signal, the target circuit can be directly determined as the fault location point, thus effectively realizing the accurate identification of the fault location point. Identify operations.

In other examples, when different excitation signals are input to the first circuit, the second circuit and the third circuit in the resistance circuit synchronously through the microcontroller, because the response signal obtained is different from the first circuit, the third circuit in the resistance circuit All excitation signals of the second circuit and the third circuit correspond. At this time, determining the fault location point based on the response signal may include: based on the response signal, determining the branch response signal corresponding to any branch in the resistance circuit, any branch It is any one of the first circuit, the second circuit and the third circuit; based on the branch response signal, it is detected whether the corresponding branch has a fault; when it is determined that the branch has a fault, the branch is determined as the fault location point.

For the resistor circuit, since different branches in the resistor circuit correspond to different excitation signals, the response signals of the branches corresponding to different excitation signals are also different, and the response signal obtained is the same as the first one in the resistor circuit. All excitation signals of the circuit, the second circuit and the third circuit correspond to each other. Therefore, after obtaining the response signal, the response signal can be analyzed and processed to determine the branch response signal corresponding to any branch in the resistor circuit. Any branch is any one of the first circuit, the second circuit, and the third circuit.

After obtaining the branch response signal, the branch response signal can be analyzed and processed to detect whether the corresponding branch has a fault. When it is determined that the branch has failed, the branch is determined as the fault location point. Among them, the specific implementation method and effect of the step in this embodiment "based on the branch response signal, detect whether the corresponding branch is faulty; when it is determined that the branch is faulty, determine the branch as the fault location point" The specific implementation method and effect of the step "based on the response signal, detecting whether the phase voltage sampling circuit has a fault; when the phase voltage sampling circuit fails, determining the fault location based on the response signal" in the above embodiment are similar. For details, please refer to The above statements will not be repeated here.

In some examples, after determining the fault location point based on the response signal, the method in this embodiment can also perform a fault reporting operation for the fault location point. Specifically, the method in this embodiment can also include: based on the fault location point , generate prompt information used to identify a fault in the phase voltage sampling circuit, so as to prompt the user to perform maintenance operations on the phase voltage sampling circuit based on the prompt information.

Specifically, after obtaining the fault location point, prompt information for identifying a fault in the phase voltage sampling circuit can be generated based on the fault location point. The prompt information can include text prompt information, picture prompt information, voice prompt information, etc., so The generated prompt information is used to prompt the user to perform maintenance operations on the phase voltage sampling circuit, thereby effectively realizing that after a fault in the phase voltage sampling circuit is discovered, the phase voltage sampling circuit can be adjusted or maintained in a timely manner, thereby making the phase voltage The sampling circuit can quickly return to normal operation, which can effectively improve the operation quality and efficiency of the phase voltage sampling circuit.

In some examples, in order to enable the user to quickly perform maintenance or repair operations on the phase voltage sampling circuit based on the prompt information, after obtaining the prompt information, the information type of the prompt information can be identified, where the prompt information includes text prompt information and When/or image prompt information is provided, the display device can be used to display text prompt information and/or image prompt information, so that the user can promptly and quickly respond to the occurrence of the problem through the text prompt information and/or image prompt information displayed on the display device. Perform maintenance operations on the faulty phase voltage sampling circuit; when the prompt information includes voice prompt information, the player can be used to play the voice prompt information, so that the user can promptly and quickly diagnose the faulty phase through the played voice prompt information. The voltage sampling circuit performs maintenance operations, further improving the speed and efficiency of maintenance operations on the phase voltage sampling circuit.

The fault detection method of the phase voltage sampling circuit provided in this embodiment inputs an excitation signal to the resistor circuit through a microcontroller, obtains a response signal generated by the resistor circuit corresponding to the excitation signal, and then detects whether the phase voltage sampling circuit is based on the response signal. When a fault occurs in the phase voltage sampling circuit, the fault location point is determined based on the response signal, which effectively realizes the need for no open circuit between the permanent magnet motor and the voltage sampling circuit, without the need for external test equipment and without occupying the microcontroller. Using the excess IO resources of the Microcontroller Unit (MCU for short), it can be determined whether an open circuit fault has occurred in the three-phase voltage sampling neutral point resistance circuit, and when an open circuit fault occurs, the specific circuit in which the open circuit fault occurs can be located, which is beneficial to Improving the stability and reliability of controlling the permanent magnet motor further improves the practicability of the control method and is conducive to market promotion and application.

Figure 7 is a schematic flow chart for inputting an excitation signal to a resistor circuit through a microcontroller in an embodiment of the present invention; based on the above embodiment, with reference to Figure 7, the microcontroller in this embodiment can include two types of The operating modes are respectively: signal output mode and signal input mode. Among them, this embodiment provides a way to input an excitation signal to the resistor circuit when the microcontroller is in the signal output mode. Specifically, in this embodiment Inputting the excitation signal to the resistor circuit through the microcontroller can include:

Step S701: In response to the starting operation of the permanent magnet motor, determine that the microcontroller is in the signal output mode.

Among them, for the microcontroller, the microcontroller can correspond to the signal output mode and the signal input mode. In order to be able to input the excitation signal to the resistor circuit through the microcontroller, after detecting that the permanent magnet motor starts, in response to the permanent magnet motor start operation, it can be determined that the microcontroller is in the signal output mode, which is used to input an excitation signal to the resistor circuit to implement fault detection operations on the resistor circuit.

Step S702: Input an excitation signal to the resistor circuit through the microcontroller based on the signal output mode.

After determining that the microcontroller is in the signal output mode, the excitation signal can be input to the resistor circuit through the microcontroller based on the signal output mode, thereby effectively realizing the input of the excitation signal to the resistor circuit when the microcontroller is in the signal output mode. Implement fault detection operations on resistor circuits.

In order to further improve the practicability of this method, after detecting whether a fault occurs in the phase voltage sampling circuit, this embodiment can also control the microcontroller to perform a mode switching operation. At this time, the method in this embodiment can include: generating and The corresponding mode switching signal of the microcontroller; based on the mode switching signal, the microcontroller switches from the signal output mode to the signal input mode; based on the signal input mode, the three-phase voltage of the permanent magnet motor is controlled by the microcontroller controlling the resistance circuit. collection operation.

Specifically, after detecting whether a fault occurs in the phase voltage sampling circuit, in order to perform a phase voltage sampling operation on the permanent magnet motor through the phase voltage sampling circuit, a mode switching signal corresponding to the microcontroller can be generated, and then based on the mode The switching signal switches the microcontroller from the signal output mode to the signal input mode, thereby controlling the microcontroller to perform mode switching operations. After obtaining the signal input mode, the resistor circuit can be controlled to sample the three-phase voltage of the permanent magnet motor based on the signal input mode of the microcontroller, so that the permanent magnet motor can be controlled to perform normal operation through the collected three-phase voltage.

In this embodiment, in response to the starting operation of the permanent magnet motor, it is determined that the microcontroller is in the signal output mode, and then based on the signal output mode, the excitation signal is input to the resistor circuit through the microcontroller, thereby effectively automatically using the microcontroller. Ground and stable input of excitation signals to the resistor circuit to achieve fault detection operations on the resistors further improves the automation of this method and is conducive to market promotion and application.

In specific applications, this application embodiment provides a method for detecting open-circuit faults in the neutral point of a permanent magnet motor, which is suitable for position sensor-less controlled permanent magnet motors that use phase voltage sampling circuits to detect zero-crossing points. The permanent magnet motor can be used for applications. Permanent magnet motors used in drones, permanent magnet motors used in electric vehicles, and permanent magnet motors used in industrial inverters and other equipment. Specifically, this detection method can be applied to fault detection situations where an open circuit occurs in the sampling circuit. If an open circuit fault occurs in the sampling circuit, the permanent magnet motor will not be able to start normally. Therefore, before starting the permanent magnet motor, you can first determine Whether there is an open-circuit fault in the sampling loop. When there is an open-circuit fault in the sampling loop, the three-phase loop corresponding to the fault location point can be accurately located, and the fault information can be reported through the fault location point, so that the user can quickly repair the fault.

Take the three-phase loop including A-phase loop, B-phase loop and C-phase loop as an example. Among them, the A-phase loop is used to collect the A-phase voltage of the permanent magnet motor, and the B-phase loop is used to collect the B-phase voltage of the permanent magnet motor. To collect, the C-phase loop is used to collect the C-phase voltage of the permanent magnet motor. At this time, with reference to Figure 8, the detection method in this application embodiment can include three major steps:

Step 1: Phase A sampling neutral point open circuit detection.

When the system corresponding to the permanent magnet motor is detected to perform initialization operations (for example: permanent magnet motor starting operation), you need to first configure the microcontroller MCU_ADC_Va from the default input mode to the GPIO (General-purpose input/output) output mode , Specifically, the chip pins in this embodiment have input functions and output functions, and then the mode adjustment operation of MCU_ADC_Va is realized by configuring the functions of the chip pins in the MCU.

Since the input of the A-phase sampling circuit is multiplexed into the output, at this time, the MCU can apply signal excitation to the resistor in the A-phase loop through the pin. The type of excitation signal is generally related to the type of MCU. In some examples, the excitation signal It can be a preset fixed frequency signal. In some embodiments, the excitation signal may be selected to include a sinusoidal signal, a pulse signal, a periodic segmented signal, etc. In some embodiments, the pulse signal may generally be a square wave pulse.

When a signal excitation is applied to the resistor in the A-phase loop, the MCU_ADC_Va can be output to a high level, and then the level change of the response signal MCU_ADC_Vcom before and after the signal excitation can be detected. The MCU_ADC_Vcom can be the difference between the MCU_ADC_Vcom after the signal excitation and the applied The difference of MCU_ADC_Vcom before signal excitation.

After obtaining the level change of MCU_ADC_Vcom, the level change can be analyzed and compared with the first preset threshold. When the level change does not exceed the preset threshold, it can be determined that the phase A neutral point is open, thereby effectively The open-circuit fault detection operation of the A-phase loop is implemented. After completing the open-circuit fault detection operation of the A-phase loop, MCU_ADC_Va can be restored to the ADC input mode, and then step 2 is performed.

Step 2: Phase B sampling neutral point open circuit detection.

Configure MCU_ADC_Vb from the default input mode to GPIO output mode. Since the input is multiplexed into output, when a signal excitation is applied to the resistor in the B-phase loop, MCU_ADC_Vb can be made to output a high level, and then the signal excitation before and after the signal excitation can be detected. The level of MCU_ADC_Vcom changes. The MCU_ADC_Vcom may be the difference between the MCU_ADC_Vcom after the signal excitation is applied and the MCU_ADC_Vcom before the signal excitation is applied.

After obtaining the level change of MCU_ADC_Vcom, the level change can be analyzed and compared with the second preset threshold (which can be the same as or different from the first preset threshold). When the level change does not exceed the preset threshold, then the level change can be analyzed and compared. It is determined that the B-phase neutral point is open circuit, thereby effectively realizing the open-circuit fault detection operation of the B-phase loop. After completing the open-circuit fault detection operation of the B-phase loop, the MCU_ADC_Vb can be restored to the ADC input mode, and then the second 3 steps.

Step 3: C phase sampling neutral point open circuit detection.

Configure MCU_ADC_Vc from the default input mode to GPIO output mode. Since the input is multiplexed into output, when a signal excitation is applied to the resistor in the C-phase loop, MCU_ADC_Vc can be made to output a high level, and then the signal excitation before and after the signal excitation can be detected. The level of MCU_ADC_Vcom changes. The MCU_ADC_Vcom may be the difference between the MCU_ADC_Vcom after the signal excitation is applied and the MCU_ADC_Vcom before the signal excitation is applied.

After obtaining the level change of MCU_ADC_Vcom, the level change can be analyzed and compared with the third preset threshold (which can be the same as or different from the first preset threshold). When the level change does not exceed the preset threshold, then the level change can be analyzed and compared. It is determined that the C-phase neutral point is open circuit, thus effectively realizing the open-circuit fault detection operation of the B-phase loop. After completing the open-circuit fault detection operation of the C-phase loop, the MCU_ADC_Vc can be restored to the ADC input mode, and the detection is completed. .

It should be noted that there is no specific requirement for the execution order of the above three steps in this application embodiment. Therefore, in the alternative scheme, the ABC three-way detection sequence can be adjusted to any order, that is, it can be ABC, ACB, BAC, BCA, CAB , CBA.

The technical solution provided by this application embodiment multiplexes the sampling input IO of the microcontroller MCU into a GPIO output, and applies signal excitation to the neutral point sampling network for open circuit detection, thus effectively eliminating the need for external test equipment. , without occupying the redundant IO resources of the microcontroller unit (MCU), it can be judged whether there is an open circuit fault in the three-phase voltage sampling neutral point resistor network. Since the excitation is applied through the sampling end of the resistor network, it can When there is output coupling between the driver and the motor, an open circuit fault is detected and the specific open circuit can be located, which further improves the practicality of this technical solution and is conducive to market promotion and application.

Figure 9 is a schematic structural diagram of a fault detection device for a phase voltage sampling circuit provided by an embodiment of the present invention; with reference to Figure 9, this embodiment provides a fault detection device for a phase voltage sampling circuit, wherein the phase voltage The sampling circuit is used to collect the phase voltage of the permanent magnet motor. The phase voltage sampling circuit includes a microcontroller and a resistor circuit connected to the microcontroller; the fault detection device can perform the fault detection method shown in Figure 4 above. Specifically, the fault detection device may include:

Memory 12, used to store computer programs;

Processor 11, used to run the computer program stored in the memory 12 to implement:

Input the excitation signal to the resistor circuit through the microcontroller;

Obtain the response signal generated by the resistor circuit corresponding to the excitation signal;

The structure of the fault detection device may also include a communication interface 13 for realizing communication between the display device of the model and other devices or communication networks.

In some examples, the processor 11 in this embodiment is also used to: when a fault occurs in the phase voltage sampling circuit, the response signal is further used to determine the fault location point.

In some examples, when the processor 11 inputs an excitation signal to the voltage sampling resistor network through the microcontroller, the processor 11 is configured to: asynchronously provide the first circuit, the second circuit and the third circuit in the resistor circuit through the microcontroller. Input the excitation signal; among them, the first circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the third phase voltage of the permanent magnet motor. .

In some examples, the response signal corresponds to an excitation signal from one of the first, second, and third circuits in the resistive circuit.

In some examples, when the processor 11 determines the fault location point based on the response signal, the processor 11 is configured to: determine the target circuit corresponding to the response signal, and the target circuit is any of the first circuit, the second circuit, and the third circuit. One; determine the target circuit as the fault location point.

In some examples, when the processor 11 inputs an excitation signal to the voltage sampling resistor network through the microcontroller, the processor 11 is configured to: synchronize the first circuit, the second circuit and the third circuit in the resistor circuit through the microcontroller. Input different excitation signals; among them, the first circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the third phase voltage of the permanent magnet motor. phase voltage.

In some examples, the response signal corresponds to all excitation signals of the first circuit, the second circuit, and the third circuit in the resistive circuit.

In some examples, when the processor 11 determines the fault location point based on the response signal, the processor 11 is configured to: based on the response signal, determine the branch response signal corresponding to any branch in the resistance circuit, and any branch is the first branch. Any one of the first circuit, the second circuit and the third circuit; based on the branch response signal, detect whether the corresponding branch is faulty; when it is determined that the branch is faulty, the branch is determined as the fault location point.

In some examples, when the processor 11 detects whether a fault occurs in the phase voltage sampling circuit based on the response signal, the processor 11 is configured to: obtain a pre-excitation signal generated by the resistor circuit before the excitation signal is input to the resistor circuit through the microcontroller. ;Based on the pre-excitation signal and the response signal, detect whether the phase voltage sampling circuit is faulty.

In some examples, when the processor 11 detects whether a fault occurs in the phase voltage sampling circuit based on the pre-excitation signal and the response signal, the processor 11 is used to: obtain the signal difference between the pre-excitation signal and the response signal; based on the signal difference value to detect whether there is a fault in the phase voltage sampling circuit.

In some examples, when the processor 11 detects whether a fault occurs in the phase voltage sampling circuit based on the signal difference, the processor 11 is configured to: when the signal difference is greater than or equal to a preset threshold, determine that the phase voltage sampling circuit does not malfunction. Fault; when the signal difference is less than the preset threshold, it is determined that the phase voltage sampling circuit is faulty.

In some examples, when the processor 11 detects whether a fault occurs in the phase voltage sampling circuit based on the response signal, the processor 11 is used to: obtain a standard response signal corresponding to the excitation signal, and the standard response signal is used to identify that the resistance circuit is normal. Status; based on the standard response signal and the response signal, detect whether the phase voltage sampling circuit is faulty.

In some examples, when the processor 11 detects whether the phase voltage sampling circuit has failed based on the standard response signal and the response signal, the processor 11 is configured to: when the response signal is less than the standard response signal, determine that the phase voltage sampling circuit has failed. ; When the response signal is equal to the standard response signal, it is determined that there is no fault in the phase voltage sampling circuit.

In some examples, after determining the fault location point based on the response signal, the processor 11 is also configured to: generate prompt information for identifying a fault in the phase voltage sampling circuit based on the fault location point, so as to prompt the user to check the phase voltage based on the prompt information. Sampling circuit for maintenance operations.

In some examples, when the processor 11 inputs an excitation signal to the resistor circuit through the microcontroller, the processor 11 is configured to: in response to the starting operation of the permanent magnet motor, determine that the microcontroller is in the signal output mode; based on the signal output mode, And input the excitation signal to the resistor circuit through the microcontroller.

In some examples, after detecting whether a fault occurs in the phase voltage sampling circuit, the processor 11 is also used to: generate a mode switching signal corresponding to the microcontroller; and switch the microcontroller from the signal output mode to the signal based on the mode switching signal. Input mode: Based on the signal input mode, the three-phase voltage of the permanent magnet motor is collected through the microcontroller-controlled resistance circuit.

The implementation and implementation effects of the fault detection device of the phase voltage sampling circuit shown in Figure 9 are similar to the implementation and implementation effects of the method of the embodiment shown in Figures 3 to 8. The parts not described in detail in this embodiment are: Reference may be made to the relevant descriptions of the embodiments shown in FIGS. 3 to 8 . For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figures 3 to 8, and will not be described again here.

In addition, embodiments of the present invention provide a computer storage medium for storing computer software instructions used in electronic equipment, which includes a fault detection method for executing the phase voltage sampling circuit in the method embodiments shown in Figures 3 to 8. procedures involved.

In addition, an embodiment of the present invention provides a computer program product, including: a computer program, which when executed by a processor of an electronic device, causes the processor to execute the phase voltage sampling circuit in the method embodiment shown in Figures 3 to 8 fault detection method.

Figure 10 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention; with reference to Figure 10, this embodiment provides a movable platform, wherein the movable platform can be implemented as an unmanned aerial vehicle, a robot, Mobile cars, mobile boats or underwater mobile equipment, etc. Specifically, the movable platform can include:

Platform body 21;

Permanent magnet motor 22 is provided on the platform body 21;

The phase voltage sampling circuit 23 is used to collect the phase voltage of the permanent magnet motor 22;

The fault detection device 24 of the phase voltage sampling circuit in the above-mentioned embodiment of FIG. 9 is used to perform fault detection operations on the phase voltage sampling circuit 23.

The implementation and implementation effects of the movable platform in this embodiment are similar to the implementation and implementation effects of the fault detection device in the embodiment shown in Figure 9. For parts not described in detail in this embodiment, please refer to Figure 9 Description of the embodiment. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figure 9 and will not be described again here.

In addition to providing a fault detection method for a phase voltage sampling circuit, embodiments of the present application also provide an unmanned aerial vehicle, which is mainly used to solve the problem of using an unmanned aerial vehicle for shooting operations in the prior art. There is a problem that it is impossible to achieve a one-shot shooting operation. Specifically, UAVs in the existing technology often have a gimbal fixedly installed under the fuselage, and the gimbal carries a shooting device. At this time, when using the unmanned aerial vehicle When the camera is performing shooting operations, the shooting device can only capture images of the lower hemisphere of the fuselage, but cannot capture images of the upper hemisphere. It cannot solve the problem of one-shot shooting, that is, it is impossible to transition from the lower hemisphere to the upper hemisphere for shooting operations.

In addition, when using a drone for shooting operations, due to the flight characteristics of the multi-rotor, the faster the flying speed, the more tilted the fuselage attitude will be. For traditional aerial photography, when the flight speed reaches a certain level, the blades of the drone may enter the shooting frame. This is very annoying in the field of professional aerial photography, making it difficult for film and television workers to happily Complete the shooting mission.

In order to solve the above technical problems, this embodiment provides a drone. Specifically, refer to the accompanying drawings 11 to 13. Some embodiments of the drone in the present invention will be described in detail below in conjunction with the accompanying drawings. The following embodiments and features in the embodiments may be combined with each other as long as there is no conflict between the embodiments.

Figure 11 is a schematic structural diagram 1 of a drone provided by an embodiment of the present invention; Figure 12 is a schematic structural diagram 2 of a drone provided by an embodiment of the present invention; Figure 13 is a schematic structural diagram 2 of a drone provided by an embodiment of the present invention. Schematic diagram 3 of the human-machine structure; with reference to Figures 11 to 13, this embodiment provides a drone, which can be a multi-rotor drone, an agricultural plant protection drone, or a water-air dual-purpose drone. Air and water dual-purpose drones can be used for flying and hovering in the air, as well as sailing and staying on the water. Moreover, the drones can take off or land on land or on the water. The shape of the aircraft fuselage can be roughly in the shape of a cube, a cone, a sphere, etc.

Specifically, the UAV may include a fuselage 100 and a gimbal 101. The fuselage 100 may include a head 100a, a tail 100b, a back 100c, and an abdomen 100d; the gimbal 101 is used to carry the shooting equipment 102, and the gimbal 101 may Rotatingly connected to the fuselage 100, the pan/tilt 101 can rotate from any one of the head 100a, tail 100b, back 100c and belly 100d of the fuselage 100 to the head 100a, tail 100b, back 100c and belly 100d of the fuselage 100. of another.

Among them, the head 100a of the fuselage can refer to the side where the aircraft flies forward, and the tail 100b of the fuselage is opposite to the head 100a and refers to the side where the aircraft flies backward; the back 100c of the fuselage 100 can refer to the side where the drone flies. Before takeoff or after landing, the part of the fuselage 100 close to the sky, the back 100c at this time may also be called the upper part or the upper end of the fuselage 100. The belly 100d of the fuselage 100 may refer to the part of the fuselage 100 close to the ground before the drone takes off or after landing. The belly 100d at this time may also be called the lower part or the lower end of the fuselage 100.

In order to realize the shooting operation, the fuselage 100 of the drone is rotatably connected to a pan/tilt 101. The pan/tilt 101 can be a single-axis pan/tilt 101, a two-axis pan/tilt 101, a three-axis pan/tilt 101, etc. Specifically, the pan/tilt 101 is The pan/tilt 101 is used to carry a shooting device 102. The shooting device 102 may refer to any device with a shooting function, such as a mobile phone, a tablet, a camera, a camcorder, etc., with a shooting function.

In some cases, the pan/tilt 101 can also be used to carry other equipment, such as searchlights, megaphones, ranging devices, etc., thereby expanding the use angles of these equipments.

It should be noted that the gimbal 101 in this embodiment can rotate relative to the fuselage 100 of the drone. Specifically, the gimbal 101 can rotate from the head 100a, tail 100b, back 100c and abdomen 100d of the fuselage 100. Any one of them is rotated to the other one of the head 100a, the tail 100b, the back 100c and the belly 100d of the fuselage. In some embodiments, when the pan/tilt 101 is located on the belly 100d of the fuselage 100, it can rotate from the belly 100d of the fuselage 100 to the head 100a according to the user's needs, or it can also rotate from the belly 100d of the fuselage 100 to the user's needs. Turn to back 100c. In some examples, when the pan/tilt 101 is located on the back 100c of the fuselage 100, the pan/tilt 101 can rotate from the back 100c of the fuselage 100 to the head 100a or the abdomen 100d or the tail 100b according to the user's needs. Specifically, in When controlling the drone for shooting, based on the current position of the gimbal 101 on the fuselage 100, the user can use the shooting device 102 to capture the scene above the fuselage 100 from the back 100c of the drone; When the abdomen 100d captures the picture below the fuselage 100, the pan/tilt 101 can be controlled to rotate relative to the fuselage 100, that is, from the back 100c of the fuselage 100 to the abdomen 100d of the fuselage 100, and then the camera 102 can be used to The picture below the fuselage 100 is used for shooting operation, thus achieving a one-shot shooting operation.

In other examples, when the pan/tilt 101 is located on the belly 100d of the fuselage 100, the pan/tilt 101 can rotate from the belly 100d to the back 100c of the fuselage 100 according to the user's needs, so that the shooting equipment 102 on the drone can When shooting, you can achieve one shot to the end. Specifically, when controlling the drone to perform shooting work, based on the current position of the gimbal 101 on the fuselage 100, the user can use the shooting device 102 to shoot the picture below the fuselage 100 from the belly 100d of the drone; When the back 100c of the drone captures the scene above the fuselage 100, the gimbal 101 can be controlled to rotate relative to the fuselage 100, that is, from the belly 100d of the fuselage 100 to the back 100c of the fuselage 100, and then through The shooting device 102 performs a shooting operation on the picture above the body 100, thereby realizing a one-shot shooting operation.

In some examples, the drone also includes a controller. When the drone is used for shooting operations, in order to improve the user's good experience, the controller can make the gimbal 101 rotate relative to the body 100. The image obtained by the shooting device 102 may always remain in a certain direction. Specifically, the controller can adjust the posture of the pan/tilt so that the shooting device 102 always faces the preset direction.

In some embodiments, the controller controls the attitude of the gimbal so that the shooting device faces the forward flight direction of the drone. In this way, when the gimbal 101 rotates relative to the body 100, the image can always remain in the forward direction. .

It can be understood that forward images and non-forward images are mainly defined by the posture of the object in the image. Generally, the relative posture of the object in the forward image satisfies conventional cognition or preset rules, for example: in the image It includes a vehicle, and the relative posture of the vehicle is that the wheels are close to the ground, the ground is at the bottom of the image, and the sky is at the top of the image; or the image includes a person, and the relative posture of the person is that the head is at the top and the feet are at the bottom. The relative posture of objects in non-forward images does not meet conventional cognition or preset rules. For example: the image includes a vehicle, the relative posture of the vehicle is that the wheels are close to the ground, the ground is at the top or hanging side of the image, and the sky is at the center of the image. The bottom end or the suspended side end; or, the image includes a character, and the relative posture of the character is that the head is in the middle and the feet are in the middle, or the head is at the lower end and the feet are at the upper end. In some embodiments, the controller is also used to control the attitude of the pan-tilt when the pan-tilt rotates to the back of the fuselage, so that the shooting device faces the sky.

Specifically, since the shooting device 102 is located on the pan/tilt 101, the pan/tilt 101 may include one or more rotation axes, such as a yaw axis, a pitch axis, and a roll axis. The attitude of the pan/tilt can be adjusted by rotating the rotation axes. Thereby adjusting the posture of the shooting device 102. Generally, when the rotation axis in the pan/tilt 101 is in different postures, there will often be shooting devices 102 with different postures, and the shooting devices 102 with different postures can capture different display directions. It can be seen from the above that the display direction of the image has a direct relationship with the attitude information of the pan/tilt 101.

Therefore, when the image capturing operation is performed by the photographing device 102, the posture information of the pan/tilt 101 can be obtained in real time and images in different postures can be obtained by adjusting the posture of the pan/tilt 101. Among them, the attitude information of the pan/tilt 101 can be detected and obtained by the inertial measurement unit IMU provided on the pan/tilt 101. Of course, those skilled in the art can also use other methods to obtain the posture information of the pan/tilt 101, as long as the accuracy and reliability of obtaining the posture information of the pan/tilt 101 can be ensured.

By adjusting the posture of the gimbal, the image captured by the shooting device can always remain in the forward direction during the rotation of the gimbal. This effectively ensures that the image viewed by the user is a forward image no matter what the circumstances. Effectively Ensure a good user experience.

The UAV provided in this embodiment is configured to include a fuselage 100 and a gimbal 101. Since the gimbal 101 is rotatably connected to the fuselage 100, the gimbal 101 can move from the head 100a, Any one of the tail 100b, the back 100c and the belly 100d is rotated to the other one of the head 100a, the tail 100b, the back 100c and the belly 100d of the fuselage, thus adjusting the rotational position of the pan/tilt 101 relative to the fuselage 100 , can realize the shooting operation above and/or below the fuselage 100, thereby realizing a one-shot shooting operation, effectively solving the problem of incompleteness of aerial photography pictures existing in related technologies, and also avoiding the need for shooting. The problem of drone blades is prone to appear in the picture, which further improves the practicality of drones and is conducive to market promotion and application.

On the basis of the above embodiments, continue to refer to Figures 11-13. This embodiment does not limit the specific connection method between the gimbal 101 and the drone. Those skilled in the art can The rotational connection effect between the fuselage 100 in the human machine can be set arbitrarily. In some examples, the pan/tilt 101 can be connected to the fuselage 100 through a bearing structure. In other examples, in order to effectively avoid the appearance of drone blades in the shooting picture, the gimbal 101 can be connected to the fuselage 100 through the connecting bracket 103. At this time, the drone in this embodiment also It may include: a connecting bracket 103, which is used to connect the fuselage 100 and the pan/tilt 101. The connecting bracket 103 is rotatably installed on the fuselage 100 to drive the pan/tilt 101 to move from the head 100a and the tail 100b of the fuselage 100. , one of the back 100c and the abdomen 100d is rotated to the other.

Among them, the connecting bracket 103 in the drone can be set at one end of the fuselage 100. For example, the connecting bracket 103 can be set at the front end, the rear end, the left end, the right end, etc. of the fuselage 100. The above-mentioned front end and rear end are equivalent to The head 100a and the tail 100b of the fuselage, and the above-mentioned left and right ends are arranged between the back 100c and the abdomen 100d of the fuselage 100. Or, the connecting bracket 103 in the drone can be set at a relatively middle position of the fuselage 100. It should be noted that the "relatively middle position" can include: the middle position of the fuselage 100 and the midpoint of the fuselage 100. is the center of the circle and the preset parameter is the position corresponding to the spherical area corresponding to the radius. The above preset parameters can be 1cm, 3cm, 5cm, 8cm or 10cm, etc.

In addition, since the connecting bracket 103 provided on the UAV is used to connect the fuselage 100 and the gimbal 101, at this time, in order to realize the gimbal 101 to be rotatably connected to the fuselage 100, the connecting bracket 103 and the fuselage 100 can be Rotating connection, the connecting bracket 103 and the pan/tilt 101 can be fixedly connected. At this time, when the connecting bracket 103 rotates relative to the fuselage 100, the pan/tilt 101 can be stably driven from the head 100a, the tail 100b, and the back. One of 100c and belly 100d is rotated to the other.

In other examples, in order to enable the pan/tilt 101 to be rotatably connected to the fuselage 100, the connecting bracket 103 is rotatably connected to the fuselage 100, and the connecting bracket 103 is rotatably connected to the pan/tilt 101. At this time, The connecting bracket 103 rotates relative to the fuselage 100, and the pan/tilt 101 can also rotate relative to the connecting bracket 103. Therefore, in some cases, when the rotation angle of the rotation axis of the pan/tilt 101 itself cannot meet the shooting needs, the pan/tilt 101 can rotate relative to the connecting bracket 103. 101 can continue to rotate relative to the connecting bracket 103, thereby achieving shooting in a wider angle range. In some cases, the connecting bracket 103 can be controlled to rotate relative to the fuselage 100. When the connecting bracket 103 rotates relative to the fuselage 100, the connection state between the connecting bracket 103 and the pan/tilt 101 can be locked.

Specifically, for the connection bracket 103 on the drone, this embodiment does not limit the specific connection method between the connection bracket 103 and the fuselage 100. In some examples, the connection bracket 103 can be connected to the fuselage through a bearing structure. 100 connections. In other examples, the connecting bracket 103 can be rotationally connected to the fuselage 100 through a motor. At this time, one end of the connecting bracket 103 can be connected to the fuselage 100 through the first motor 1031. Driven by the first motor 1031, the connecting bracket 103 and the body 100 can rotate relative to each other.

Similarly, for the connection bracket 103 on the drone, this embodiment does not limit the specific connection method between the connection bracket 103 and the cloud platform 101. In some examples, the connection bracket 103 can be connected to the cloud through a bearing structure. The platform 101 is connected. At this time, the connecting bracket 103 is rotatably connected to the platform 101; in some examples, the connecting bracket 103 can be fixedly connected to the axis arm of the platform 101. In other examples, the connecting bracket 103 can be connected to the pan/tilt 101 through a motor. At this time, one end of the connecting bracket 103 can be connected to the pan/tilt 101 through the second motor 1032. Driven by the second motor 1032, the pan/tilt moves. 101 can rotate around the yaw axis, pitch axis or roll axis, that is, the second motor 1032 can be equivalent to a certain rotation axis of the gimbal.

It should be noted that the pan/tilt 101 can rotate relative to the fuselage 100 driven by the connecting bracket 103. When implemented, the angle range at which the pan/tilt 101 can rotate relative to the fuselage 100 is between 0-360°, such as 10 Any value among °, 30°, 60°, 90°, 120°, 150°, 180°, 210°, 240°, 270°, 300°, 330°, 360° and the range consisting of any of the above values any value. For example, when the angle range that the pan/tilt 101 can rotate relative to the fuselage 100 is 360°, it means that the pan/tilt 101 can perform a 360° rotation operation relative to the fuselage 100; when the pan/tilt 101 can rotate relative to the fuselage 100 When the angle range of the 100 rotation is 180°, it means that the pan/tilt 101 can rotate 180° relative to the body 100 . It can be understood that the larger the angle range that the pan/tilt 101 can rotate relative to the body 100, the more flexible the pan/tilt 101 is relative to the body 100. At this time, it is easier to achieve shooting operations from different angles, which is beneficial to Meet the various shooting needs of users.

In this embodiment, the fuselage 100 and the pan/tilt 101 are connected through the connecting bracket 103. Specifically, the connecting bracket 103 is rotatably installed on the fuselage 100 to drive the pan/tilt 101 to move from the head 100a and the tail 100b of the fuselage 100. , one of the back 100c and the abdomen 100d is rotated to the other, which is not only simple and reliable, but also stably and effectively realizes that the pan/tilt 101 can rotate from the head 100a, the tail 100b, the back 100c and the abdomen 100d of the fuselage 100 Rotating one to the other further improves the stability and reliability of drone-based shooting operations.

On the basis of the above embodiments, as shown in FIGS. 11 to 13 , the UAV in this embodiment may also include: main arms 104 disposed on both sides of the fuselage 100 , one end of the main arm 104 is used for To support the power assembly 105 of the drone, the other end of the main arm 104 passes through the connecting bracket 103 and is connected to the fuselage 100 .

The main arm 104 can be disposed on the left and right sides of the fuselage 100. The above-mentioned power assembly 105 is used to provide power for the drone. In some examples, the power assembly 105 can include a rotor assembly and a propulsion assembly. The propulsion assembly is The rotor assembly provides power to create lift. The number of power assemblies and rotor assemblies may be two or more.

In addition, this embodiment does not limit the specific shape and structure of the connecting bracket 103. In some examples, the connecting bracket 103 can be a single-arm bracket. At this time, one end of the connecting bracket 103 is connected to the host arm 104, and the other end of the connecting bracket 103 is connected to the pan/tilt. Specifically, the connecting bracket 103 can be connected via a motor. Connect to the yaw axis, roll axis or pitch axis of the gimbal 101.

In other examples, the connecting bracket 103 may be a double-arm bracket. In this case, the connecting bracket 103 may include a first arm 103a and a second arm 103b. The above-mentioned first arm 103a and second arm 103b may pass through The motor is connected to the pan/tilt 101. Specifically, the first arm 103a and the second arm 103b can be connected to the yaw axis, roll axis or pitch axis of the pan/tilt 101 through the motor. Moreover, for the first arm 103a and the second arm 103b included in the connecting bracket 103, the first arm 103a and the second arm 103b can respectively connect both sides of the fuselage 100, and the main arm 104 includes a third arm 103a and a second arm 103b. A host arm 104a and a second host arm 104b. One end of the first host arm 104a passes through the first arm 103a and is connected to the fuselage 100. One end of the second host arm 104b passes through the second arm 103b and is connected to the fuselage 100.

In addition, when the gimbal 101 rotates relative to the fuselage 100, for example, when the gimbal 101 rotates from the back 100c to the abdomen 100d of the fuselage 100 or from the abdomen 100d to the back 100c of the fuselage 100, the drone and the cloud The overall center of gravity of the platform 101 may shift. In order to avoid the unstable operation of the UAV due to the shift of the center of gravity, the UAV in this embodiment may also include a counterweight body 106, where the counterweight body 106 may It includes a battery, which can be used to power the drone, the gimbal, and the rotation of the connecting bracket. It should be noted that the counterweight body 106 may not only include batteries, but may also include other structures, such as shock absorbing blocks or other fixed structures. Those skilled in the art can configure the counterweight body 106 according to specific application scenarios or application requirements.

Specifically, the counterweight 106 can be disposed on the end of the connecting bracket 103 opposite to the pan/tilt 101. For example, the pan/tilt 101 is disposed on the first end of the connecting bracket 103. At this time, the counterweight 106 is located on the second end of the connecting bracket 103. end, so that when the gimbal 101 rotates relative to the fuselage 100, the center of gravity of the gimbal 101, the counterweight body 106 and the connecting bracket 103 is located on the fuselage 100, which effectively ensures the stability and reliability of the UAV operation.

On the other hand, for the power assembly 105, the power assembly 105 may not only include a rotor assembly and a propulsion assembly. In this embodiment, the power assembly 105 may also include:

Permanent magnet motor 1051;

The phase voltage sampling circuit 1052 is used to collect the phase voltage of the permanent magnet motor 1051;

The fault detection device 1053 of the phase voltage sampling circuit 1052 in the embodiment corresponding to the above-mentioned FIG. 9 is used to perform a fault detection operation on the phase voltage sampling circuit 1052.

The implementation method and effect of the UAV in this embodiment are similar to the implementation method and effect of the fault detection device 1053 in the embodiment shown in Figure 9. For the parts not described in detail in this embodiment, please refer to Figure 9 Description of the embodiment shown. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Figure 9 and will not be described again here.

The technical solutions and technical features in each of the above embodiments can be used alone or in combination if they conflict with the present application. As long as they do not exceed the cognitive scope of those skilled in the art, they all belong to equivalent embodiments within the protection scope of the present application. .

In the several embodiments provided by the present invention, it should be understood that the disclosed related detection devices and methods can be implemented in other ways. For example, the detection device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. can be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the detection device or unit may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer processor (processor) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. scope.

Claims

A fault detection method for a phase voltage sampling circuit. The phase voltage sampling circuit can be used to collect phase voltage of a permanent magnet motor. It is characterized in that the phase voltage sampling circuit includes a microcontroller and the microcontroller. The resistor circuit is connected to the controller, and the method includes:

Input an excitation signal to the resistor circuit through the microcontroller;

Obtaining a response signal generated by the resistance circuit corresponding to the excitation signal;

Based on the response signal, it is detected whether a fault occurs in the phase voltage sampling circuit.
The method according to claim 1, characterized in that:

When a fault occurs in the phase voltage sampling circuit, the response signal is also used to determine the fault location point.
The method according to claim 2, characterized in that inputting an excitation signal to the voltage sampling resistor network through a microcontroller includes:

The microcontroller asynchronously inputs an excitation signal to the first circuit, the second circuit and the third circuit in the resistor circuit;

Wherein, the first circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the The third phase voltage of the permanent magnet motor.
The method of claim 3, wherein the response signal corresponds to an excitation signal of one of the first circuit, the second circuit and the third circuit in the resistive circuit.
The method according to claim 4, characterized in that the response signal is also used to determine the fault location point, including:

Determine the target circuit corresponding to the response signal, and the target circuit is any one of the first circuit, the second circuit, and the third circuit;

The target circuit is determined as the fault location point.
The method according to claim 2, characterized in that inputting an excitation signal to the voltage sampling resistor network through a microcontroller includes:

Different excitation signals are synchronously input to the first circuit, the second circuit and the third circuit in the resistance circuit through the microcontroller;

Wherein, the first circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the The third phase voltage of the permanent magnet motor.
The method of claim 6, wherein the response signal corresponds to all excitation signals of the first circuit, the second circuit and the third circuit in the resistance circuit.
The method according to claim 7, characterized in that the response signal is also used to determine the fault location point, including:

Based on the response signal, determine the branch response signal corresponding to any branch in the resistance circuit, and any branch is any one of the first circuit, the second circuit and the third circuit;

Based on the branch response signal, detect whether the corresponding branch fails;

When it is determined that a fault occurs on the branch, the branch is determined as the fault location point.
The method according to claim 1, characterized in that, based on the response signal, detecting whether the phase voltage sampling circuit fails, including:

Obtaining a pre-excitation signal generated by the resistive circuit before inputting an excitation signal to the resistive circuit through the microcontroller;

Based on the pre-excitation signal and the response signal, it is detected whether a fault occurs in the phase voltage sampling circuit.
The method according to claim 9, characterized in that, based on the pre-excitation signal and the response signal, detecting whether the phase voltage sampling circuit fails, including:

Obtain the signal difference between the pre-excitation signal and the response signal;

Based on the signal difference, it is detected whether a fault occurs in the phase voltage sampling circuit.
The method according to claim 10, characterized in that, based on the signal difference, detecting whether the phase voltage sampling circuit fails, including:

When the signal difference is greater than or equal to the preset threshold, it is determined that there is no fault in the phase voltage sampling circuit;

When the signal difference is less than the preset threshold, it is determined that the phase voltage sampling circuit is faulty.
The method according to claim 1, characterized in that, based on the response signal, detecting whether the phase voltage sampling circuit fails, including:

Obtain a standard response signal corresponding to the excitation signal, where the standard response signal is used to identify that the resistance circuit is in a normal state;

Based on the standard response signal and the response signal, it is detected whether a fault occurs in the phase voltage sampling circuit.
The method according to claim 12, characterized in that, based on the standard response signal and the response signal, detecting whether the phase voltage sampling circuit fails, including:

When the response signal is smaller than the standard response signal, it is determined that the phase voltage sampling circuit is faulty;

When the response signal is equal to the standard response signal, it is determined that there is no fault in the phase voltage sampling circuit.
The method according to claim 2, characterized in that, after determining the fault location point, the method further includes:

Based on the fault location point, prompt information used to identify a fault in the phase voltage sampling circuit is output to prompt the user to perform maintenance operations on the phase voltage sampling circuit based on the prompt information.
The method according to claim 2, characterized in that inputting an excitation signal to the resistance circuit through the microcontroller includes:

In response to the starting operation of the permanent magnet motor, determining that the microcontroller is in a signal output mode;

An excitation signal is input to the resistor circuit based on the signal output mode and through the microcontroller.
The method according to claim 15, characterized in that, after detecting whether the phase voltage sampling circuit fails, the method further includes:

generating a mode switching signal corresponding to the microcontroller;

Switch the microcontroller from the signal output mode to the signal input mode based on the mode switching signal;

Based on the signal input mode and controlling the resistor circuit through the microcontroller, the three-phase voltage of the permanent magnet motor is collected.
A fault detection device for a phase voltage sampling circuit. The phase voltage sampling circuit is used to collect phase voltage of a permanent magnet motor. It is characterized in that the phase voltage sampling circuit includes a microcontroller and the microcontroller. a resistor circuit connected to the device, and the fault detection device includes:

Memory, used to store computer programs;

A processor configured to run a computer program stored in the memory to:

Input an excitation signal to the resistor circuit through the microcontroller;

Obtaining a response signal generated by the resistance circuit corresponding to the excitation signal;

Based on the response signal, it is detected whether a fault occurs in the phase voltage sampling circuit.
The device of claim 17, wherein the processor is further configured to:

When a fault occurs in the phase voltage sampling circuit, the response signal is also used to determine the fault location point.
The device according to claim 18, wherein when the processor inputs an excitation signal to the voltage sampling resistor network through a microcontroller, the processor is configured to:

The microcontroller asynchronously inputs an excitation signal to the first circuit, the second circuit and the third circuit in the resistor circuit;

Wherein, the first circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the The third phase voltage of the permanent magnet motor.
The device of claim 19, wherein the response signal corresponds to an excitation signal of one of the first, second and third circuits in the resistive circuit.
The device according to claim 20, wherein when the processor determines the fault location point based on the response signal, the processor is configured to:

Determine the target circuit corresponding to the response signal, and the target circuit is any one of the first circuit, the second circuit, and the third circuit;

The target circuit is determined as the fault location point.
The device according to claim 18, wherein when the processor inputs an excitation signal to the voltage sampling resistor network through a microcontroller, the processor is configured to:

Different excitation signals are synchronously input to the first circuit, the second circuit and the third circuit in the resistance circuit through the microcontroller;

Wherein, the first circuit is used to collect the first phase voltage of the permanent magnet motor, the second circuit is used to collect the second phase voltage of the permanent magnet motor, and the third circuit is used to collect the The third phase voltage of the permanent magnet motor.
The device according to claim 22, wherein the response signal corresponds to all excitation signals of the first circuit, the second circuit and the third circuit in the resistive circuit.
The device according to claim 23, wherein when the processor determines the fault location point based on the response signal, the processor is configured to:

Based on the response signal, determine the branch response signal corresponding to any branch in the resistance circuit, and any branch is any one of the first circuit, the second circuit and the third circuit;

Based on the branch response signal, detect whether the corresponding branch fails;

When it is determined that a fault occurs on the branch, the branch is determined as the fault location point.
The device according to claim 17, wherein when the processor detects whether a fault occurs in the phase voltage sampling circuit based on the response signal, the processor is configured to:

Obtaining a pre-excitation signal generated by the resistive circuit before inputting an excitation signal to the resistive circuit through the microcontroller;

Based on the pre-excitation signal and the response signal, it is detected whether a fault occurs in the phase voltage sampling circuit.
The device according to claim 25, wherein when the processor detects whether a fault occurs in the phase voltage sampling circuit based on the pre-excitation signal and the response signal, the processor is configured to:

Obtain the signal difference between the pre-excitation signal and the response signal;

Based on the signal difference, it is detected whether a fault occurs in the phase voltage sampling circuit.
The device according to claim 26, wherein when the processor detects whether a fault occurs in the phase voltage sampling circuit based on the signal difference, the processor is configured to:

When the signal difference is greater than or equal to the preset threshold, it is determined that there is no fault in the phase voltage sampling circuit;

When the signal difference is less than the preset threshold, it is determined that the phase voltage sampling circuit is faulty.
The device according to claim 17, wherein when the processor detects whether a fault occurs in the phase voltage sampling circuit based on the response signal, the processor is configured to:

Obtain a standard response signal corresponding to the excitation signal, where the standard response signal is used to identify that the resistance circuit is in a normal state;

Based on the standard response signal and the response signal, it is detected whether a fault occurs in the phase voltage sampling circuit.
The device according to claim 28, wherein when the processor detects whether a fault occurs in the phase voltage sampling circuit based on the standard response signal and the response signal, the processor is configured to:

When the response signal is smaller than the standard response signal, it is determined that the phase voltage sampling circuit is faulty;

When the response signal is equal to the standard response signal, it is determined that there is no fault in the phase voltage sampling circuit.
The device according to claim 18, characterized in that, after determining the fault location point, the processor is further configured to:

Based on the fault location point, prompt information used to identify a fault in the phase voltage sampling circuit is output to prompt the user to perform maintenance operations on the phase voltage sampling circuit based on the prompt information.
The device according to claim 17, wherein when the processor inputs an excitation signal to the resistor circuit through the microcontroller, the processor is configured to:

In response to the starting operation of the permanent magnet motor, determining that the microcontroller is in a signal output mode;

An excitation signal is input to the resistor circuit based on the signal output mode and through the microcontroller.
The device according to claim 31, wherein after detecting whether the phase voltage sampling circuit fails, the processor is further configured to:

generating a mode switching signal corresponding to the microcontroller;

Switch the microcontroller from the signal output mode to the signal input mode based on the mode switching signal;

Based on the signal input mode and controlling the resistor circuit through the microcontroller, the three-phase voltage of the permanent magnet motor is collected.
A movable platform, characterized by including:

Platform subject;

A permanent magnet motor, installed on the main body of the platform;

A phase voltage sampling circuit, used to collect the phase voltage of the permanent magnet motor;

The fault detection device of the phase voltage sampling circuit according to any one of claims 17 to 32, the fault detection device is used to perform fault detection operation on the phase voltage sampling circuit.
A computer-readable storage medium, characterized in that program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement fault detection of the phase voltage sampling circuit according to any one of claims 1-16. method.
An unmanned aerial vehicle is characterized by:

The fuselage, including at least the head, tail, back and belly;

The cloud platform can carry shooting equipment, the cloud platform is rotatably connected to the fuselage, and the cloud platform can rotate from any one of the head, tail, back and abdomen of the fuselage to the other of the head, tail, back and belly of the fuselage.
The UAV according to claim 35, characterized in that the UAV further includes: a connecting bracket, the connecting bracket is used to connect the fuselage and the cloud platform, the connecting bracket is rotatably Installed on the fuselage to drive the pan/tilt to rotate from one of the back and abdomen of the fuselage to the other.
The UAV according to claim 36, wherein the connecting bracket is provided at one end of the fuselage or at a position relatively in the middle of the fuselage.
The UAV according to claim 36, characterized in that one end of the connecting bracket is connected to the fuselage through a first motor, and driven by the first motor, the connecting bracket and the fuselage can relative rotation.
The UAV according to claim 36, characterized in that the UAV further includes: main arms arranged on both sides of the fuselage, one end of the main arm is used to support the UAV. Power assembly, the other end of the host arm passes through the connecting bracket and is connected to the fuselage.
The UAV according to claim 39, wherein the connecting bracket includes a first arm and a second arm, and the first arm and the second arm are respectively connected to the fuselage. On both sides, the host arm includes a first host arm and a second host arm. One end of the first host arm passes through the first arm and is connected to the fuselage. One end of the second host arm passes through The second arm is connected to the fuselage.
The UAV according to claim 36, characterized in that one end of the connecting bracket is connected to the cloud platform through a second motor, and driven by the second motor, the cloud platform can rotate around the yaw axis, Pitch or roll axis rotation.
The UAV according to claim 36, wherein the pan/tilt is a single-axis, two-axis or three-axis pan/tilt.
The UAV according to claim 36, characterized in that the UAV further includes: a counterweight body, the counterweight body is arranged on an end of the connecting bracket opposite to the cloud platform, so that the When the platform rotates relative to the fuselage, the center of gravity of the platform, the counterweight body and the connecting bracket is located on the fuselage.
The UAV according to claim 43, wherein the counterweight body includes a battery, and the battery can provide power for the rotation of the UAV, the gimbal or the connecting bracket.
The UAV according to claim 36, wherein the pan/tilt can rotate relative to the fuselage within an angle range of 0-360° driven by the connecting bracket.
The UAV according to claim 35, characterized in that the UAV further includes:

Controller, the controller is used to rotate the pan/tilt from any one of the head, tail, back and belly of the fuselage to another one of the head, tail, back and belly of the fuselage. In the process, the posture of the pan/tilt is controlled so that the shooting device faces a preset direction.
The UAV according to claim 46, wherein the preset direction includes the forward flight direction of the UAV.
The UAV according to claim 35, characterized in that the UAV further includes:

A controller, the controller is used to control the posture of the pan-tilt when the pan-tilt rotates to the back of the fuselage, so that the shooting device faces the sky.
The UAV according to claim 39, wherein the power assembly includes:

permanent magnet motor;

A phase voltage sampling circuit, used to collect the phase voltage of the permanent magnet motor;

The fault detection device of the phase voltage sampling circuit according to any one of claims 17 to 32, the fault detection device is used to perform fault detection operation on the phase voltage sampling circuit.