Abnormality monitoring method, device and electronic equipment of multi-rotor UAV

Abstract

The invention provides an abnormality monitoring method, device and electronic equipment for a multi-rotor unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The control amount to start; among them, the control amount is applied to the rotation axis of the multi-rotor UAV; the control amount is input to the preset rotation model, and the estimated rotational angular velocity of the multi-rotor UAV is obtained; based on the estimated rotational angular velocity, the multi-rotor The startup abnormality of the rotor UAV is monitored; wherein, the startup abnormality includes abnormal spiral installation and / or abnormal rotation of the motor. The invention can better monitor whether the multi-rotor UAV has abnormal spiral installation and abnormal motor rotation, so as to effectively avoid the take-off rollover accident of the multi-rotor UAV caused by the abnormal installation of the propeller or the abnormal rotation of the motor, etc. Effectively reduce the losses caused thereby.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an abnormality monitoring method, device and electronic equipment of a multi-rotor unmanned aerial vehicle. Background technique [0002] With the rapid development of UAVs, UAVs are appearing more and more frequently in the public eye, especially multi-rotor UAVs, whose excellent hovering stability, flexible handling and low price are easy to Accepted by ordinary consumers, after a small amount of training and practice, it is possible to control the drone flight. However, most ordinary users do not know that the propellers of multi-rotor UAVs are divided into positive and negative torques in order to offset the yaw direction. The forward propeller rotates clockwise, and the reverse propeller Let the hair down. If the propeller is installed incorrectly or the direction of the motor is wrong, the wind direction generated by the propeller will be upward or cannot...

AI Technical Summary

Problems solved by technology

If the propeller is installed incorrectly or the direction of the motor is wrong, the wind direction generated by the propeller will be upward or unable to counteract the yaw torque, which will cause positive feedback of the control during take-off and cause the drone to roll over

[0003] At present, the propellers of most multi-rotor UAVs are easy to be installed incorrectly. In order to improve this problem, it is proposed in related technologies that mechanical structure restrictions can be used to prevent incorrect installation of the propellers. However, there are many problems in this way, such as the propellers are easy to fall off , It is impossible to avoid the rollover accident of the drone caused by the wrong steering of the motor, etc.

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