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

Abstract

A propeller abnormality detection method, a drone, a control terminal and a medium, the method comprising: obtaining operation information of the drone when it is not in a take-off state (S101); determining a propeller blade detection result according to the operation state information and / or vibration state information (S102); when the propeller blade detection result indicates that the propeller is in an unbalanced state, outputting corresponding prompt information to prompt a user that the propeller blade is abnormal (S103). The application improves the flight safety of the drone.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a propeller anomaly detection method, an unmanned aerial vehicle, a control terminal and a medium. Background Art

[0002] The power system of a drone can provide the drone with flight power, thereby driving the drone to fly. Therefore, the power system is particularly important for the flight of a drone. The power system includes the propeller system and the motor used to drive the propeller system. The propeller system is a more sophisticated system that has been strictly designed. If multiple propellers are unbalanced, it will affect the flight performance and safety of the drone. However, when using a drone, users usually ignore the propeller system and directly control the flight of the drone. Once the propeller is damaged, ejected, broken or not deployed, it will cause the drone to roll over or fly around, and the flight safety of the drone cannot be guaranteed. Summary of the invention

[0003] Based on this, the embodiments of the present application provide a propeller abnormality detection method, a drone, a control terminal and a medium, aiming to improve the flight safety of the drone.

[0004] In a first aspect, an embodiment of the present application provides a drone, including:

[0005] frame;

[0006] A power system, comprising a motor and a propeller, wherein the propeller comprises a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the UAV;

[0007] a controller, configured to determine whether the propeller is in an unbalanced state according to state information of at least some components of the drone when the drone is in a non-take-off state, wherein the unbalanced state includes at least one of the plurality of blades being damaged, or at least one of the plurality of blades being not deployed when the plurality of blades are rotatable;

[0008] When it is determined that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the propeller blade is abnormal.

[0009] In a second aspect, an embodiment of the present application further provides a propeller abnormality detection method, which is applied to a drone, wherein the drone includes a power system, the power system includes a motor and a propeller, the propeller includes a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the drone, and the method includes:

[0010] Acquire operation information of the drone when it is in a non-take-off state, wherein the operation information includes at least one of the operation state information of the motor and the vibration state information of the drone;

[0011] Determining a blade detection result of the propeller according to the operating state information of the motor and / or the vibration state information of the drone;

[0012] When the blade detection result shows that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal.

[0013] In a third aspect, an embodiment of the present application further provides a propeller abnormality detection method, which is applied to a control terminal, the control terminal being used to communicate with a drone and to control the drone, the method comprising:

[0014] Obtaining a blade detection result of the propeller sent by the drone, wherein the blade detection result is determined according to the propeller abnormality detection method;

[0015] According to the blade detection result, a corresponding UAV model is displayed in a display device connected to the control terminal to feed back the blade detection result of the UAV.

[0016] In a fourth aspect, an embodiment of the present application further provides a drone, comprising a power system, the power system comprising a motor and a propeller, the propeller comprising a plurality of blades, the motor being used to drive the propeller to rotate, thereby providing flight power for the drone, the drone also comprising a memory and a processor;

[0017] The memory is used to store computer programs;

[0018] The processor is used to execute the computer program and implement the following steps when executing the computer program:

[0019] Acquire operation information of the drone when it is in a non-take-off state, wherein the operation information includes at least one of the operation state information of the motor and the vibration state information of the drone;

[0020] Determining a blade detection result of the propeller according to the operating state information of the motor and / or the vibration state information of the drone;

[0021] When the blade detection result shows that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal.

[0022] In a fifth aspect, an embodiment of the present application further provides a control terminal, the control terminal is used to communicate with a drone and control the drone, the drone includes a power system, the power system includes a motor and a propeller, the motor is used to drive the propeller to rotate, thereby providing flight power for the drone, and the control terminal includes a memory and a processor;

[0023] The memory is used to store computer programs;

[0024] The processor is used to execute the computer program and implement the following steps when executing the computer program:

[0025] Obtaining a blade detection result of the propeller sent by the drone;

[0026] According to the blade detection result, a corresponding UAV model is displayed in a display device connected to the control terminal to feed back the blade detection result of the UAV.

[0027] In a sixth aspect, an embodiment of the present application further provides a control system, which includes the drone as described above and the control terminal as described above, and the control terminal is communicatively connected to the drone for controlling the drone.

[0028] In a seventh aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the propeller abnormality detection method as described above.

[0029] The embodiments of the present application provide a propeller abnormality detection method, a drone, a control terminal and a medium. By using the status information of at least some components of the drone when the drone is not in a take-off state, it is determined whether the propeller of the drone is in an unbalanced state. If the propeller of the drone is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal. It is possible to accurately determine whether the propeller is abnormal, ensure that the propeller is in a balanced state when the drone takes off, improve the flight safety of the drone, and greatly improve the user experience.

[0030] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 It is a schematic diagram of the structure of a drone provided in an embodiment of the present application;

[0033] Figure 2 is a schematic diagram of a scenario in which the propeller of the drone in an embodiment of the present application is in an unbalanced state;

[0034] Figure 3 is a schematic flow chart of the steps of a propeller abnormality detection method provided in an embodiment of the present application;

[0035] Figure 4 yes Figure 3 A schematic flow chart of a sub-step of a propeller anomaly detection method in FIG.

[0036] Figure 5 is a schematic diagram of the relationship between the speed and current of the motor of the power system in the embodiment of the present application;

[0037] Figure 6 yes Figure 3 A schematic flowchart of another sub-step of the propeller abnormality detection method in FIG.

[0038] Figure 7 is a schematic flow chart of the steps of another propeller abnormality detection method provided by an embodiment of the present application;

[0039] Figure 8 is a schematic diagram of the connection between the control terminal and the drone in an embodiment of the present application;

[0040] Fig. 9 This is a schematic diagram of a propeller of a drone in an embodiment of the present application;

[0041] Fig.10 is a schematic diagram of a scene of a drone model displayed by a display device in an embodiment of the present application;

[0042] Fig.11 is a schematic block diagram of the structure of a drone provided in an embodiment of the present application;

[0043] Fig.12 is a schematic block diagram of the structure of a control terminal provided in an embodiment of the present application;

[0044] Fig.13 It is a schematic block diagram of the structure of a control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0047] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0048] The power system of a drone can provide the drone with flight power, thereby driving the drone to fly. Therefore, the power system is particularly important for the flight of a drone. Therefore, when actually using the drone, the user is required to check the power system, mainly to check whether the propeller of the power system is damaged or cannot be fully deployed. However, the user can only simply check the propeller and cannot accurately determine whether the propeller is abnormal. When the user uses the drone without checking for abnormalities in the propeller, it will cause the drone to roll over or fly around, and the flight safety of the drone cannot be guaranteed.

[0049] In order to solve the above problems, the embodiments of the present application provide a propeller abnormality detection method, a drone, a control terminal and a medium. The propeller abnormality detection method can be applied to a drone, a control terminal, or a control system composed of a drone and a control terminal. The present application does not make specific limitations on this. This solution determines whether the propeller of the drone is in an unbalanced state through the state information of at least some components of the drone when the drone is not in a take-off state. If the propeller of the drone is in an unbalanced state, the corresponding prompt information is output to prompt the user that the blade is abnormal. It can accurately determine whether the propeller is abnormal, ensure that the propeller can be in a balanced state when the drone takes off, improve the flight safety of the drone, and greatly improve the user experience.

[0050] Please refer to Figure 1 , Figure 1 It is a structural schematic diagram of a drone provided in an embodiment of the present application.

[0051] like Figure 1As shown, the drone 100 includes a frame 110 and a power system 120, the power system 120 includes a motor 121 and a propeller 122, the propeller 122 includes a plurality of blades, and the motor 121 is used to drive the propeller 122 to rotate, thereby providing flight power for the drone 100. Figure 1 As shown, the propeller 122 includes two blades. In one embodiment, the propeller includes a plurality of blades and a blade clamp, one end of the blade is sleeved on the connecting column of the blade clamp, and in a normal state, the blade is free to rotate relative to the blade clamp, that is, the resistance encountered when it rotates relative to the blade clamp is particularly small; when in an abnormal state, the blade is in a clamped state or cannot be fully unfolded relative to the blade clamp, and cannot be naturally thrown away during takeoff, and the resistance encountered when it rotates relative to the blade clamp is relatively large. In an abnormal state, a plurality of blades are in an unbalanced state, which can easily cause the aircraft control system to injure people after abnormal takeoff. The situation involving multiple blades in the embodiments of the present invention is not limited to this, and other schemes involving multiple blades that can rotate between each other, or one of the blades that can rotate relative to other structures (such as the housing of a motor) are all within the protection scope of the present invention. In one embodiment, the propeller includes a plurality of blades, and the blades are sleeved on a connecting column.

[0052] Optionally, multiple blades are fixedly connected, or multiple blades are rotatably connected. Among them, the drone 100 can have one or more power systems 120, and all power systems 120 can be of the same type. Optionally, one or more power systems 120 can be of different types. The power system 120 can be installed on the frame 110 of the drone 100 by suitable means, such as through a supporting element (such as a drive shaft). The power system 120 can be installed at any suitable position of the drone 100, such as the top, bottom, front end, rear end, side, or any combination thereof.

[0053] In one embodiment, the power system 120 enables the drone 100 to take off vertically from the ground, or to land vertically on the ground, without any horizontal movement of the drone 100 (e.g., without taxiing on a runway). Optionally, the power system 120 can allow the drone 100 to hover in a preset position and / or direction in the air. One or more power systems 120 can be independent of other power systems 120 when controlled. Optionally, one or more power systems 120 can be controlled simultaneously. For example, the drone 100 can have multiple horizontal power systems 120 to track the lifting and / or propulsion of the target. The horizontal power system 120 can be actuated to provide the drone 100 with the ability to take off vertically, land vertically, and hover vertically.

[0054] In one embodiment, one or more of the horizontal power systems 120 can rotate clockwise, while one or more of the other horizontal power systems can rotate counterclockwise. For example, the number of power systems 120 that rotate clockwise is the same as the number of power systems 120 that rotate counterclockwise. The rotation rate of each horizontal power system 120 can be independently varied to achieve the lifting and / or pushing operation caused by each power system, thereby adjusting the spatial orientation, speed and / or acceleration of the drone 100 (such as rotation and translation with respect to up to three degrees of freedom).

[0055] In one embodiment, the drone 100 may further include a sensing system, which may include one or more sensors to sense the spatial orientation, speed and / or acceleration (such as rotation and translation relative to up to three degrees of freedom), angular acceleration, attitude, position (absolute position or relative position), etc. of the drone 100. The one or more sensors include a GPS sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor. Optionally, the sensing system may also be used to collect environmental data of the unmanned aerial vehicle, such as climatic conditions, potential obstacles to be approached, the location of geographical features, the location of man-made structures, etc. In addition, the drone 100 may include a tripod, which is a contact piece between the drone 100 and the ground when the drone 100 lands. The tripod may be folded up when the unmanned aerial vehicle is in flight (such as when the unmanned aerial vehicle is cruising) and put down when it lands; it may also be fixedly installed on the drone 100 and always in a put-down state.

[0056] In one embodiment, the drone 100 can communicate with the control terminal, and data interaction between the control terminal and the drone 100 can be realized, such as flight control of the drone 100 and control of the load (when the load is a shooting device, the control terminal can control the shooting device), wherein the control terminal can communicate with the drone 100 and / or the load, and the communication between the drone 100 and the control terminal can be wireless communication, which can provide direct communication between the drone 101 and the control terminal. This direct communication can occur without any intermediate device or network.

[0057] In one embodiment, indirect communication may be provided between the drone 100 and the control terminal. Such indirect communication may occur with the aid of one or more intermediate devices or networks. For example, the indirect communication may utilize a telecommunications network. The indirect communication may be performed with the aid of one or more routers, communication towers, satellites, or any other intermediate devices or networks. Examples of communication types may include, but are not limited to, communication via the Internet, a local area network (LAN), a wide area network (WAN), Bluetooth, near field communication (NFC) technology, a network based on a mobile data protocol such as a general packet radio service (GPRS), GSM enhanced data GSM environment (EDGE), 3G, 4G, or long term evolution (LTE) protocol, infrared (IR) communication technology, and / or Wi-Fi, and may be wireless, wired, or a combination thereof.

[0058] Among them, the control terminal may include, but is not limited to: a smart phone / mobile phone, a tablet computer, a personal digital assistant (PDA), a desktop computer, a media content player, a video game station / system, a virtual reality system, an augmented reality system, a wearable device (e.g., a watch, glasses, gloves, headwear (e.g., a hat, a helmet, a virtual reality headset, an augmented reality headset, a head-mounted device (HMD), a headband), a pendant, an armband, a leg ring, shoes, a vest), a gesture recognition device, a microphone, any electronic device capable of providing or rendering image data, or any other type of device. The control terminal may be a handheld terminal, and the control terminal may be portable. The control terminal may be carried by a human user. In some cases, the control terminal may be away from the human user, and the user may control the control terminal using wireless and / or wired communications.

[0059] In one embodiment, the drone 100 further includes a controller (not shown in the figure), which may include a flight controller and / or an electronic speed regulator. The controller is used to determine whether the propeller is in an unbalanced state based on the state information of at least some components of the drone 100 when the drone 100 is in a non-take-off state, and output corresponding prompt information when it is determined that the propeller is in an unbalanced state to prompt the user that the blade is abnormal. The drone 100 being in a non-take-off state means that the drone 100 has not taken off from the ground or other take-off platforms (such as a base station or a car), and the landing frame or bottom of the drone 100 is in contact with the ground or other take-off platforms. Whether the propeller is in an unbalanced state can be accurately determined by the state information of at least some components when the drone 100 is in a non-take-off state, so that when it is determined that the propeller is in an unbalanced state, the corresponding prompt information is output to ensure that the propeller can be in a balanced state when the drone takes off, thereby improving the flight safety of the drone and greatly improving the user experience.

[0060] In one embodiment, when the power system is started, that is, when the drone starts to propel, the electronic speed regulator collects the speed and current of the motor of the power system at different times, and determines whether the propeller is in an unbalanced state based on the collected speed and current of the motor at different times; if the propeller is in a balanced state, no processing is performed, and the drone can operate normally; if the propeller is in an unbalanced state, the electronic speed regulator sends blade abnormality information to the flight controller. After receiving the blade abnormality information, the flight controller controls the motor of the power system to stop rotating within a preset time after the drone starts to propel, so as to stop the propeller from rotating, thereby avoiding the drone from taking off forcibly and causing the drone to explode. When the drone starts to propel beyond the preset time, the flight controller ignores the blade abnormality information sent by the electronic speed regulator, thereby avoiding the problem of the drone falling due to lack of flight power during the flight of the drone.

[0061] In one embodiment, when the power system is started, that is, when the drone starts to propel, the electronic speed regulator collects the rotational speed and current of the motor of the power system at different times, and sends the collected rotational speed and current of the motor at different times to the flight controller. The flight controller determines whether the propeller is in an unbalanced state based on the rotational speed and current of the motor at different times; if the propeller is in a balanced state, no processing is performed, and the drone can operate normally; if the propeller is in an unbalanced state, then within a preset time after the drone starts to propel, the flight controller controls the motor of the power system to stop rotating, so that the propeller stops rotating, to avoid the drone taking off forcibly and causing the drone to explode, and when the drone takes off for more than the preset time, the flight controller ignores the blade abnormality information sent by the electronic speed regulator, to avoid the problem of the drone falling due to lack of flight power during the flight of the drone.

[0062] The unbalanced state includes at least one of the multiple blades being damaged, or at least one of the multiple blades being not deployed when the multiple blades are rotatable. The blades not being deployed means that when the power system is started, the motor drives the multiple blades to rotate so that the folded blades can be deployed, but in some cases, the folded blades are stuck, which makes it impossible for the blades to be fully deployed. For example, Figure 1 and Figure 2 As shown, Figure 1 The propeller 122 includes two blades, and Figure 2 The propeller 122 includes only one blade, and the other blade is broken, so the propeller 122 is in an unbalanced state.

[0063] In one embodiment, when it is determined that the propeller is in an unbalanced state, the method of outputting the corresponding prompt information may include: when it is determined that the propeller is in an unbalanced state, the controller controls the LED light on the drone 100 to flash according to a preset flashing mode to prompt the user that the blade is abnormal; and / or the controller controls the speaker or buzzer on the drone 100 to emit a blade abnormality prompt sound to prompt the user that the blade is abnormal; and / or sends the blade abnormality information to the control terminal communicating with the drone 100, and the control terminal is used to issue a corresponding prompt information when receiving the blade abnormality information to prompt the user that the blade is abnormal. Among them, the drone 100 may include one or more LED lights, and the preset flashing mode can be set based on the actual situation, for example, one LED light flashes once every 0.5 seconds, and for example, one of the multiple LED lights is turned on every 0.5 seconds.

[0064] In one embodiment, the controller is also used to control the power system 120 to make a preset response when it is determined that the propeller is in an unbalanced state. For example, the motor in the power system 120 is controlled to stop rotating so that the propeller stops rotating. By determining that the propeller is in an unbalanced state, the propeller is stopped to avoid the drone from taking off forcibly and causing the drone to explode, thereby improving the flight safety of the drone and greatly improving the user experience. For another example, the speed of the motor in the power system 120 is increased and maintained for a preset time, thereby increasing the rotation speed of the propeller, generating a greater throwing force, so that the undeployed blades can be deployed, ensuring that the propeller is in a balanced state, improving the flight safety of the drone, and greatly improving the user experience. Among them, the preset time can be set based on the actual situation, and this application does not make a specific limitation on this. Optionally, the preset time is 5 seconds.

[0065] In one embodiment, if the running time of the motor in the power system 120 is less than the preset running time, it is determined that the drone is in a non-take-off state; and / or; if the speed of the motor in the power system 120 is less than the preset hovering speed, it is determined that the drone is in a non-take-off state. Among them, the preset running time and the preset hovering speed can be set based on actual conditions, and this application does not make specific restrictions on this. For example, if the preset running time is 5 seconds, then within 5 seconds after the motor is started, it can be determined that the drone is in a non-take-off state.

[0066] In one embodiment, the state information of at least some components of the drone when the drone is in a non-takeoff state may include at least one of a plurality of vibration state quantities of the frame 110 and a plurality of operating state quantities of the motor in the power system 120, the vibration state quantity including the vibration intensity and vibration frequency of the frame, and the operating state quantity including the current and rotation speed of the motor. For example, when the power system 120 is started, the vibration state quantity of the frame 110 is collected by the inertial measurement unit of the drone 100 at intervals of preset time, when the start time of the power system 120 reaches the preset running time, the vibration state quantity of the frame 110 is stopped from being collected, and the plurality of vibration state quantities of the frame 110 that have been collected by the inertial measurement unit are obtained. For another example, when the power system 120 is started, the operating state quantity of the motor in the power system 120 is collected at intervals of preset time, when the start time of the power system 120 reaches the preset running time, the operating state quantity of the motor in the power system 120 is stopped from being collected, and the plurality of operating state quantities of the motor in the power system 120 that have been collected are obtained.

[0067] In one embodiment, when the drone is in the open-loop control stage, when the power system 120 is started, the vibration state quantity of the frame 110 at different times is collected by the inertial measurement unit of the drone 100, and according to the vibration state quantity of the frame 110 at different times collected by the inertial measurement unit, it is determined whether the propeller is in an unbalanced state. Among them, when the drone is in the open-loop control stage, the controller of the drone will not adjust the attitude of the drone according to the data of the inertial measurement unit. Therefore, the detection accuracy of the propeller unbalance state can be improved. For example, in the open-loop control stage, when the vibration frequency of the frame 110 is greater than a preset threshold, it can be determined that the propeller blades are unbalanced; or, in the open-loop control stage, when the frame 110 continues to vibrate within a preset time, it can be determined that the propeller blades are unbalanced; or, in the open-loop control stage, when the vibration of the frame 110 changes periodically within a preset time, it can be determined that the propeller blades are unbalanced. In one embodiment, the controller is further used to determine the positive abnormal distribution of the operating state quantity when the drone 100 is in a preset time period according to the multiple operating state quantities of the motor in the power system 120; and determine whether the propeller is in an unbalanced state according to the positive abnormal distribution of the operating state quantity when the drone 100 is in a preset time period. For example, the preset time period is the time period between the start-up time of the power system 120 and the time 3 seconds after the start-up.

[0068] In one embodiment, a first number of operating state quantities within an abnormal first preset operating state quantity range among multiple operating state quantities is counted; a second number of operating state quantities within a normal second preset operating state quantity range among multiple operating state quantities is counted; based on the total number of operating state quantities, the first number, and the second number, a positive abnormal distribution of the operating state quantities when the drone 100 is in a preset time period is determined, that is, a ratio of the first number to the total number and a ratio of the second number to the total number are determined, to obtain a positive abnormal distribution of the operating state quantities when the drone 100 is in the preset time period.

[0069] In one embodiment, if the proportion of the first number to the total number is greater than the first preset proportion, and / or the proportion of the second number to the total number is less than the second preset proportion, it is determined that the propeller is in an unbalanced state, and if the proportion of the first number to the total number is less than or equal to the first preset proportion, and the proportion of the second number to the total number is greater than or equal to the second preset proportion, it is determined that the propeller is in a balanced state. Wherein, the first preset proportion is greater than the second preset proportion, and the sum of the first preset proportion and the second preset proportion is 1. The first preset proportion and the second preset proportion can be set based on actual conditions, and this application does not make specific restrictions on this. For example, the first preset proportion is 70% and the second preset proportion is 30%.

[0070] In one embodiment, the controller is further used to determine the positive abnormal distribution of the vibration state quantity when the drone 100 is in a preset time period according to the multiple vibration state quantities of the frame 110; and determine whether the propeller is in an unbalanced state according to the positive abnormal distribution of the vibration state quantity when the drone 100 is in a preset time period. For example, the preset time period is the time period between the start-up time of the power system 120 and the time 4 seconds after the start-up.

[0071] In one embodiment, a third number of operating state quantities within an abnormal first preset vibration state quantity range among multiple vibration state quantities is counted; a fourth number of operating state quantities within a normal second preset vibration state quantity range among multiple vibration state quantities is counted; based on the total number of vibration state quantities, the third number and the fourth number, the positive abnormal distribution of the vibration state quantity when the drone 100 is in a preset time period is determined, that is, the ratio of the third number to the total number and the ratio of the fourth number to the total number are determined, and the positive abnormal distribution of the vibration state quantity when the drone 100 is in the preset time period is obtained.

[0072] It can be understood that the abnormal first preset vibration state quantity range is determined based on the vibration state quantity of the frame 110 collected when the propeller is in an unbalanced state, and the normal second pre-vibration state quantity range is determined based on the vibration state quantity of the frame 110 collected when the propeller is in a balanced state.

[0073] In one embodiment, if the proportion of the third number to the total number is greater than the first preset proportion, and / or the proportion of the fourth number to the total number is less than the second preset proportion, it is determined that the propeller is in an unbalanced state, and if the proportion of the third number to the total number is less than or equal to the first preset proportion, and the proportion of the fourth number to the total number is greater than or equal to the second preset proportion, it is determined that the propeller is in a balanced state. Wherein, the first preset proportion is greater than the second preset proportion, and the sum of the first preset proportion and the second preset proportion is 1. The first preset proportion and the second preset proportion can be set based on actual conditions, and this application does not make specific restrictions on this. For example, the first preset proportion is 70% and the second preset proportion is 30%.

[0074] In one embodiment, based on multiple operating state quantities, a first positive abnormal distribution of the operating state quantity when the drone 100 is in a preset time period is determined; based on multiple vibration state quantities, a second positive abnormal distribution of the vibration state quantity when the drone 100 is in a preset time period is determined; based on the first positive abnormal distribution and the second positive abnormal distribution, it is determined whether the propeller is in an unbalanced state. Through multiple vibration state quantities of the frame and multiple operating state quantities of the motor, it is possible to more accurately determine whether the propeller is in an unbalanced state, which can further ensure that the propeller can be in a balanced state when the drone takes off, improve the flight safety of the drone, and greatly improve the user experience.

[0075] In one embodiment, if the first positive abnormal distribution satisfies the first preset positive abnormal distribution, and the second positive abnormal distribution satisfies the second preset positive abnormal distribution, it is determined that the propeller is in an unbalanced state; and if the first positive abnormal distribution does not satisfy the first preset positive abnormal distribution, and / or the second positive abnormal distribution does not satisfy the second preset positive abnormal distribution, it is determined that the propeller is in a balanced state. Wherein, the first preset positive abnormal distribution includes that the proportion of the first quantity to the total quantity is greater than the first preset proportion, and / or the proportion of the second quantity to the total quantity is less than the second preset proportion, and the second preset positive abnormal distribution includes that the proportion of the third quantity to the total quantity is greater than the first preset proportion, and / or the proportion of the fourth quantity to the total quantity is less than the second preset proportion.

[0076] See also Figure 3 , Figure 3 1 is a schematic flow chart of the steps of a propeller anomaly detection method provided in an embodiment of the present application. The propeller anomaly detection method can be applied to a drone, which includes a power system, which includes a motor and a propeller, which includes a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the drone. The drone includes a rotary-wing drone, such as a quad-rotor drone, a hexacopter drone, an octo-rotor drone, or a fixed-wing drone, or a combination of a rotary-wing drone and a fixed-wing drone, which is not limited here.

[0077] like Figure 3As shown, the propeller abnormality detection method includes steps S101 to S103.

[0078] S101. Obtaining operation information of the drone when it is in a non-take-off state, wherein the operation information includes at least one of operation state information of the motor and vibration state information of the drone.

[0079] Among them, the operating status information of the motor in the power system of the drone includes multiple operating status quantities of the motor, and the operating status quantities include the speed and current of the motor. The drone also includes a frame and an inertial measurement unit. The vibration status information of the drone includes multiple vibration state quantities of the frame collected by the inertial measurement unit, and the vibration state quantities include the vibration intensity and vibration frequency of the frame.

[0080] In one embodiment, if the operating time of the motor in the power system of the drone is less than the preset operating time, the drone is determined to be in a non-take-off state; and / or if the speed of the motor in the power system of the drone is less than the preset hovering speed, the drone is determined to be in a non-take-off state. The preset operating time and the preset hovering speed can be set based on actual conditions, and the embodiments of the present application do not specifically limit this.

[0081] In one embodiment, the method for obtaining the operation information of the drone when it is not in the take-off state can be: when the power system is started, the operation state quantity of the motor in the power system is collected at intervals of preset time, and when the start time of the power system reaches the preset operation time, the operation state quantity of the motor in the power system is stopped, and multiple operation state quantities of the motor in the power system that have been collected are obtained. And / or when the power system of the drone is started, the vibration state quantity of the frame is collected by the inertial measurement unit of the drone at intervals of preset time, and when the start time of the power system reaches the preset operation time, the vibration state quantity of the frame is stopped, and multiple vibration state quantities of the frame that have been collected by the inertial measurement unit are obtained. Among them, the preset time can be set based on the actual situation, for example, the preset time is 0.5 seconds.

[0082] S102: Determine a blade detection result of the propeller according to the operating state information of the motor and / or the vibration state information of the drone.

[0083] After obtaining the operating information of the drone when it is not in a take-off state, the propeller blade detection result can be determined based on the operating status information of the motor in the operating information, or the propeller blade detection result can be determined based on the vibration status information of the drone in the operating information, or the propeller blade detection result can be determined based on the operating status information of the motor and the vibration status information of the drone in the operating information.

[0084] The propeller blade detection results include the propeller being in a balanced state and the propeller being in an unbalanced state, wherein the unbalanced state includes at least one of the multiple blades being damaged, or at least one of the multiple blades being not deployed when the multiple blades are rotatable. Figure 1 and Figure 2 As shown, Figure 1 The propeller 122 includes two blades, and the propeller 122 is in a balanced state. Figure 2 The propeller 122 in the embodiment includes only one blade, so the propeller 122 is in an unbalanced state.

[0085] In one embodiment, if Figure 4 As shown, step S102 may include sub-steps S1021 to S1022.

[0086] S1021. Determine, based on the multiple operating state quantities, a positive abnormal distribution of the operating state quantities within a preset time period.

[0087] For example, the preset time period is a time period between the start-up time of the power system 120 and the time 3 seconds after the start-up.

[0088] In one embodiment, a first number of operating state quantities that are within a first preset abnormal operating state quantity range among multiple operating state quantities is counted; a second number of operating state quantities that are within a second preset normal operating state quantity range among multiple operating state quantities is counted; based on the total number of operating state quantities, the first number, and the second number, the positive abnormal distribution of the operating state quantities when the drone is in a preset time period is determined, that is, the ratio of the first number to the total number and the ratio of the second number to the total number are determined, to obtain the positive abnormal distribution of the operating state quantities when the drone is in a preset time period. The first preset operating state quantity range and the second preset operating state quantity range are determined based on the decision surface of the operating state quantity. Figure 5 As shown, Figure 5 The dotted line in is a decision surface of the running state quantity, the lower area of ​​the decision surface includes the first preset running state quantity range, and the upper area of ​​the decision surface includes the second preset running state quantity range.

[0089] S1022. Determine a blade detection result of the propeller according to the positive abnormal distribution of the operating state quantity within a preset time period.

[0090] If the proportion of the first number to the total number is greater than the first preset proportion, and / or the proportion of the second number to the total number is less than the second preset proportion, then the propeller blade detection result is determined to be that the propeller is in an unbalanced state, and if the proportion of the first number to the total number is less than or equal to the first preset proportion, and the proportion of the second number to the total number is greater than or equal to the second preset proportion, then the propeller blade detection result is determined to be that the propeller is in a balanced state. Among them, the first preset proportion is greater than the second preset proportion, and the sum of the first preset proportion and the second preset proportion is 1. The first preset proportion and the second preset proportion can be set based on actual conditions, and this application does not make specific restrictions on this. For example, the first preset proportion is 70% and the second preset proportion is 30%.

[0091] In one embodiment, if Figure 6 As shown, step S102 may include sub-steps S1023 to S1024.

[0092] S1023. Determine, based on the multiple operating state quantities, a positive abnormal distribution of the operating state quantities within a preset time period.

[0093] For example, the preset time period is a time period between the start-up time of the power system 120 and the time 5 seconds after the start-up.

[0094] In one embodiment, a third number of operating state quantities within an abnormal first preset vibration state quantity range among multiple vibration state quantities is counted; a fourth number of operating state quantities within a normal second preset vibration state quantity range among multiple vibration state quantities is counted; based on the total number of vibration state quantities, the third number and the fourth number, the positive abnormal distribution of the vibration state quantities when the drone is in a preset time period is determined, that is, the ratio of the third number to the total number and the ratio of the fourth number to the total number are determined, to obtain the positive abnormal distribution of the vibration state quantities when the drone 100 is in the preset time period.

[0095] It can be understood that the abnormal first preset vibration state quantity range is determined based on the vibration state quantity of the frame collected when the propeller is in an unbalanced state, and the normal second pre-vibration state quantity range is determined based on the vibration state quantity of the frame collected when the propeller is in a balanced state.

[0096] S1024. Determine a blade detection result of the propeller according to the positive abnormal distribution of the operating state quantity within a preset time period.

[0097] If the proportion of the third number to the total number is greater than the first preset proportion, and / or the proportion of the fourth number to the total number is less than the second preset proportion, then the propeller blade detection result is determined to be that the propeller is in an unbalanced state, and if the proportion of the third number to the total number is less than or equal to the first preset proportion, and the proportion of the fourth number to the total number is greater than or equal to the second preset proportion, then the propeller blade detection result is determined to be that the propeller is in a balanced state. Among them, the first preset proportion is greater than the second preset proportion, and the sum of the first preset proportion and the second preset proportion is 1. The first preset proportion and the second preset proportion can be set based on actual conditions, and this application does not make specific restrictions on this. For example, the first preset proportion is 70% and the second preset proportion is 30%.

[0098] In one embodiment, based on multiple operating state quantities, a first positive abnormal distribution of the operating state quantity when the drone is in a preset time period is determined; based on multiple vibration state quantities, a second positive abnormal distribution of the vibration state quantity when the drone is in a preset time period is determined; based on the first positive abnormal distribution and the second positive abnormal distribution, the propeller blade detection result is determined. Through multiple vibration state quantities of the frame and multiple operating state quantities of the motor, it is possible to more accurately determine whether the propeller is in an unbalanced state, which can further ensure that the propeller can be in a balanced state when the drone takes off, improve the flight safety of the drone, and greatly improve the user experience.

[0099] In one embodiment, if the first positive abnormal distribution satisfies the first preset positive abnormal distribution, and the second positive abnormal distribution satisfies the second preset positive abnormal distribution, it is determined that the propeller is in an unbalanced state; and if the first positive abnormal distribution does not satisfy the first preset positive abnormal distribution, and / or the second positive abnormal distribution does not satisfy the second preset positive abnormal distribution, it is determined that the propeller is in a balanced state. Wherein, the first preset positive abnormal distribution includes that the proportion of the first quantity to the total quantity is greater than the first preset proportion, and / or the proportion of the second quantity to the total quantity is less than the second preset proportion, and the second preset positive abnormal distribution includes that the proportion of the third quantity to the total quantity is greater than the first preset proportion, and / or the proportion of the fourth quantity to the total quantity is less than the second preset proportion.

[0100] S103: When the blade detection result shows that the propeller is in an unbalanced state, output corresponding prompt information to prompt the user that the blade is abnormal.

[0101] When it is determined that the blade detection result is that the propeller is in an unbalanced state, a corresponding prompt message is output to prompt the user that the blade is abnormal. Specifically, it may include: controlling the LED light on the drone to flash according to a preset flashing mode to prompt the user that the blade is abnormal; and / or controlling the speaker or buzzer on the drone to emit a blade abnormality prompt sound to prompt the user that the blade is abnormal; and / or sending blade abnormality information to a control terminal that communicates with the drone 100, and the control terminal is used to issue a corresponding prompt message upon receiving the blade abnormality information to prompt the user that the blade is abnormal. Among them, the drone 100 may include one or more LED lights, and the preset flashing mode can be set based on the actual situation, for example, an LED light flashes once every 0.5 seconds, and for another example, one of the multiple LED lights is lit in turn every 0.5 seconds.

[0102] In one embodiment, when it is determined that the blade detection result is that the propeller is in an unbalanced state, the speed of the motor is increased to a preset speed and continued for a preset time. The preset speed and the preset time can be set based on actual conditions, and the embodiment of the present application does not specifically limit this. For example, the preset time is 5 seconds. By increasing the speed of the motor and continuing for a preset time, the rotation speed of the propeller is increased, a greater throwing force is generated, and the undeployed blades can be deployed, ensuring that the propeller is in a balanced state, improving the flight safety of the drone, and greatly improving the user experience.

[0103] In one embodiment, when it is determined that the propeller is in an unbalanced state as a result of the blade detection, the propeller is controlled to stop rotating, so as to prevent the drone from taking off forcibly and causing the drone to crash.

[0104] In one embodiment, after the propeller is controlled to stop rotating, blade abnormality information is sent to a control terminal communicating with the drone, so that the control terminal can output the blade abnormality information to prompt the user of the blade abnormality. The control terminal can display the corresponding drone model in a display device connected to the control terminal according to the blade detection result to feedback the drone blade detection result. The display device can be a display device inside the control terminal, for example, the control terminal is a smart phone, or it can be an external display device of the control terminal.

[0105] The propeller abnormality detection method provided in the above embodiment obtains the operating status information of the motor and / or the vibration status information of the drone when the drone is not in a take-off state, and determines the propeller blade detection result based on the motor operating status information and / or the vibration status information of the drone. Then, when it is determined that the blade detection result is that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal, which can ensure that the propeller can be in a balanced state when the drone takes off, improve the flight safety of the drone, and greatly improve the user experience.

[0106] See also Figure 7 , Figure 7 The present invention is a flowchart showing the steps of another method for detecting anomalies of propellers provided in an embodiment of the present invention. The method for detecting anomalies of propellers is applied to a control terminal, which is used to communicate with and control a drone, wherein the drone includes a power system, the power system includes a motor and a propeller, and the motor is used to drive the propeller to rotate, thereby providing flight power for the drone.

[0107] like Figure 7 As shown, the propeller abnormality detection method includes steps S201 to S202.

[0108] S201. Obtain a blade detection result of the propeller sent by the drone.

[0109] After obtaining the propeller blade detection result, the drone sends the propeller blade detection result to the control terminal, and the control terminal obtains the propeller blade detection result sent by the drone. The specific detection method of the propeller blade detection result can refer to the above embodiment, and this embodiment does not specifically limit this. Figure 8 As shown, the drone 100 is in communication connection with the control terminal 200, and the control terminal 200 is connected to the display device 210, so that the control terminal 200 can output the data sent by the drone 100 on the display device 210 for the user to watch.

[0110] S202: Display a corresponding UAV model in a display device connected to the control terminal according to the blade detection result to feed back the blade detection result of the UAV.

[0111] Among them, the drone model includes a propeller, and the propeller includes multiple blades. The operating state of the propeller on the drone model is determined according to the blade detection result. The operating state of the propeller includes a rotating state and a stationary state. If the blade detection result shows that the propeller is in an unbalanced state, the corresponding propeller on the drone model is in a stationary state. If the blade detection result shows that the propeller is in a balanced state, the propellers of the drone model are all in a rotating state.

[0112] For example, Fig. 9 As shown, the drone includes propeller 10, propeller 20, propeller 30 and propeller 40, the drone model includes propeller 1, propeller 2, propeller 3 and propeller 4, and propeller 10, propeller 20, propeller 30 and propeller 40 correspond to propeller 1, propeller 2, propeller 3 and propeller 4 in the drone model respectively. If the blade detection result shows that propeller 10 is in an unbalanced state and propeller 20, propeller 30 and propeller 40 are in a balanced state, then Fig.10As shown, propeller 1 on the drone model is in a stationary state, while propeller 2, propeller 3 and propeller 4 are in a rotating state.

[0113] In one embodiment, if the blade detection result is that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to feedback that the propeller is in an unbalanced state. By displaying the preset blade icon and then feedback that the propeller is in an unbalanced state, it is convenient for the user to know that the propeller is in an unbalanced state, so that the user can check or replace the propeller, which can ensure the safety of the subsequent drone flight.

[0114] In one embodiment, the preset blade icon is controlled to flash at a preset flashing frequency; or the color of the preset blade icon is controlled to switch cyclically between a first preset color and a second preset color. Among them, the preset flashing frequency, the first preset color and the second preset color can be set based on actual conditions, and the embodiment of the present application does not specifically limit this. For example, the preset flashing frequency is to flash the preset blade icon once every 1 second, the first preset color is red, and the second preset color is orange. By controlling the preset blade icon to flash or change color, it is convenient for users to know that the propeller is in an unbalanced state, allowing users to check or replace the propeller, which can ensure the safety of subsequent drone flights.

[0115] The propeller abnormality detection method provided in the above embodiment obtains the blade detection result of the propeller sent by the UAV, and displays the corresponding UAV model in a display device connected to the control terminal based on the blade detection result, so as to feedback the blade detection result of the UAV, so that the user can know in time that the propeller is in an unbalanced state, allowing the user to check or replace the propeller, thereby ensuring the safety of subsequent UAV flights.

[0116] See also Fig.11 , Fig.11 It is a schematic block diagram of the structure of a drone provided in an embodiment of the present application.

[0117] The drone includes a power system, which includes a motor and a propeller. The propeller includes a plurality of blades. The motor is used to drive the propeller to rotate, thereby providing flight power for the drone 300. Fig.11 As shown, the drone 300 also includes a processor 301 and a memory 302, and the processor 301 and the memory 302 are connected via a bus 303, and the bus 303 is, for example, an I2C (Inter-integrated Circuit) bus. The drone can be a rotary-wing drone, such as a quad-rotor drone, a hexacopter drone, an octo-rotor drone, or a fixed-wing drone, or a combination of a rotary-wing drone and a fixed-wing drone, which is not limited here.

[0118] Specifically, the processor 301 may be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP).

[0119] Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0120] The processor 301 is used to run the computer program stored in the memory 302, and implement the following steps when executing the computer program:

[0121] Acquire operation information of the drone when it is in a non-take-off state, wherein the operation information includes at least one of the operation state information of the motor and the vibration state information of the drone;

[0122] Determining a blade detection result of the propeller according to the operating state information of the motor and / or the vibration state information of the drone;

[0123] When the blade detection result shows that the propeller is in an unbalanced state, corresponding prompt information is output to prompt the user that the blade is abnormal.

[0124] The unbalanced state includes that at least one of the plurality of blades is damaged, or when the plurality of blades are rotatable, at least one of the plurality of blades is not deployed.

[0125] In one embodiment, the processor is further configured to implement the following steps:

[0126] If the running time of the motor is less than the preset running time, it is determined that the drone is in a non-take-off state; and / or;

[0127] If the rotation speed of the motor is less than the preset hovering rotation speed, it is determined that the drone is in a non-take-off state.

[0128] In one embodiment, the running state information of the motor includes a plurality of running state quantities of the motor, the running state quantities include a rotation speed and a current of the motor, and determining the blade detection result of the propeller according to the running state information of the motor includes:

[0129] Determining, based on the multiple operating state quantities, a positive abnormal distribution of the operating state quantities within a preset time period;

[0130] The blade detection result of the propeller is determined according to the positive abnormal distribution of the operating state quantity within a preset time period.

[0131] In one embodiment, determining the positive abnormal distribution of the operating state quantity within a preset time period according to the multiple operating state quantities includes:

[0132] Counting a first number of the operating state quantities that are within a first preset abnormal operating state quantity range among the plurality of operating state quantities;

[0133] Counting a second number of the operating state quantities that are within a normal second preset operating state quantity range among the multiple operating state quantities;

[0134] According to the total quantity, the first quantity and the second quantity of the running state quantity, a positive abnormal distribution of the running state quantity within a preset time period is determined.

[0135] In one embodiment, determining the propeller blade detection result according to the positive abnormal distribution of the operating state quantity within a preset time period includes:

[0136] If the ratio of the first number to the total number is greater than a first preset ratio, and / or the ratio of the second number to the total number is less than a second preset ratio, it is determined that the propeller blade detection result is that the propeller is in an unbalanced state.

[0137] In one embodiment, the drone further includes a frame and an inertial measurement unit, the vibration state information of the drone includes a plurality of vibration state quantities of the frame collected by the inertial measurement unit, the vibration state quantities include the vibration intensity and vibration frequency of the frame, and determining the blade detection result of the propeller according to the vibration state information of the drone includes:

[0138] Determining, based on the plurality of vibration state quantities, a positive abnormal distribution of the vibration state quantities within a preset time period;

[0139] The blade detection result of the propeller is determined according to the positive abnormal distribution of the vibration state quantity within a preset time period.

[0140] In one embodiment, determining the positive abnormal distribution of the vibration state quantity within a preset time period according to the multiple vibration state quantities includes:

[0141] Counting a third number of the operating state quantities within the abnormal first preset vibration state quantity range among the plurality of vibration state quantities;

[0142] Counting a fourth number of the operating state quantities that are within a normal second preset vibration state quantity range among the plurality of vibration state quantities;

[0143] A positive abnormal distribution of the vibration state quantity within a preset time period is determined according to the total quantity, the third quantity and the fourth quantity of the vibration state quantity.

[0144] In one embodiment, the drone further includes a frame and an inertial measurement unit, the running state information of the motor includes multiple running state quantities of the motor and multiple vibration state quantities of the frame collected by the inertial measurement unit, the running state quantities include the speed and current of the motor, and the vibration state quantities include the vibration intensity and vibration frequency of the frame, and determining the blade detection result of the propeller according to the running state information of the motor and the vibration state information of the drone includes:

[0145] Determining, based on the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period;

[0146] Determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantity within a preset time period;

[0147] A blade detection result of the propeller is determined according to the first positive abnormal distribution and the second positive abnormal distribution.

[0148] In one embodiment, after determining the blade detection result of the propeller according to the running state information of the motor and / or the vibration state information of the drone, the method further includes:

[0149] When the blade detection result shows that the propeller is in an unbalanced state, the rotation speed of the motor is increased to a preset rotation speed and continued for a preset time.

[0150] In one embodiment, after determining the blade detection result of the propeller according to the running state information of the motor and / or the vibration state information of the drone, the method further includes:

[0151] When the blade detection result shows that the propeller is in an unbalanced state, the propeller is controlled to stop rotating.

[0152] In one embodiment, after controlling the propeller to stop rotating, the method further includes:

[0153] The blade abnormality information is sent to a control terminal communicating with the drone, so that the control terminal outputs the blade abnormality information to prompt a user of the blade abnormality.

[0154] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the drone described above can refer to the corresponding process in the aforementioned propeller abnormality detection method embodiment, and will not be repeated here.

[0155] The present application also provides a control terminal, which is used to communicate with a drone and control the drone. The drone includes a power system, which includes a motor and a propeller. The motor is used to drive the propeller to rotate, thereby providing flight power for the drone. Fig.12 , Fig.12 It is a schematic block diagram of the structure of a control terminal provided in an embodiment of the present application.

[0156] like Fig.12 As shown, the control terminal 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected via a bus 403, and the bus 403 is, for example, an I2C (Inter-integrated Circuit) bus.

[0157] Specifically, the processor 401 may be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP).

[0158] Specifically, the memory 402 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0159] The processor 401 is used to run the computer program stored in the memory 402, and implement the following steps when executing the computer program:

[0160] Obtaining a blade detection result of the propeller sent by the drone;

[0161] According to the blade detection result, a corresponding UAV model is displayed in a display device connected to the control terminal to feed back the blade detection result of the UAV.

[0162] In one embodiment, the drone model includes a propeller, and the propeller includes a plurality of blades. The operating state of the propeller on the drone model is determined according to the blade detection result.

[0163] In one embodiment, the operating state of the propeller includes a rotating state and a stationary state. If the blade detection result shows that the propeller is in an unbalanced state, the corresponding propeller on the drone model is in a stationary state. If the blade detection result shows that the propeller is in a balanced state, the propellers of the drone model are all in a rotating state.

[0164] In one embodiment, the processor is further configured to implement the following steps:

[0165] If the blade detection result shows that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to provide feedback that the propeller is in an unbalanced state.

[0166] In one embodiment, the processor is further configured to implement the following steps:

[0167] Controlling the preset paddle icon to flash at a preset flashing frequency; or

[0168] The color of the preset paddle icon is controlled to cyclically switch between a first preset color and a second preset color.

[0169] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control terminal described above can refer to the corresponding process in the aforementioned propeller abnormality detection method embodiment, and will not be repeated here.

[0170] See also Fig.13 , Fig.13 is a schematic block diagram of a control system provided in an embodiment of the present application. Fig.13 As shown, the control system 500 includes a drone 510 and a control terminal 520 , and the control terminal 520 is communicatively connected to the drone 510 for controlling the drone 510 .

[0171] It should be noted that those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working process of the control system described above can refer to the corresponding process in the aforementioned propeller abnormality detection method embodiment, and will not be repeated here.

[0172] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the propeller abnormality detection method provided in the above embodiment.

[0173] The computer-readable storage medium may be an internal storage unit of the control terminal or drone described in any of the aforementioned embodiments, such as a hard disk or memory of the control terminal or drone. The computer-readable storage medium may also be an external storage device of the control terminal or drone, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the control terminal or drone.

[0174] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0175] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0176] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An aircraft, characterized in that: include: frame; A power system, comprising a motor and a propeller, wherein the propeller comprises a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the aircraft; a controller, configured to determine whether the propeller is in an unbalanced state according to the operation state information of the motor of the aircraft when the aircraft is in a non-take-off state, wherein the unbalanced state includes at least one of the plurality of blades being damaged, or at least one of the plurality of blades being not deployed when the plurality of blades are rotatable; And in response to the propeller being in an unbalanced state, blade abnormality information is output.

2. The aircraft according to claim 1, characterized in that The plurality of blades are fixedly connected to each other, or the plurality of blades are rotatably connected to each other; The controller includes a flight controller and / or an electronic speed governor.

3. The aircraft according to claim 1, characterized in that: Determining whether the propeller is in an unbalanced state based on the operating status information of the motor of the aircraft when the aircraft is in a pre-takeoff state includes: determining whether the propeller is in an unbalanced state based on the operating status information of the motor of the aircraft when the aircraft is in a pre-takeoff state and the vibration state amount of the aircraft when the aircraft is in a pre-takeoff state.

4. The aircraft according to claim 1, characterized in that: The controller is also used for sending the blade abnormality information to a control terminal in communication with the aircraft in response to determining that the propeller is in an unbalanced state.

5. The aircraft according to claim 3, characterized in that: The vibration state quantity includes the vibration intensity and vibration frequency of the aircraft.

6. The aircraft according to claim 1, characterized in that: The running state information includes a plurality of running state quantities of the motor, wherein the running state quantities include a rotation speed and a current of the motor, and the controller is further used for: Determining, based on the multiple operating state quantities, a positive abnormal distribution of the operating state quantities within a preset time period; Whether the propeller is in an unbalanced state is determined according to the positive abnormal distribution of the operating state quantity within a preset time period.

7. The aircraft according to claim 1, characterized in that: Determining whether the propeller is in an unbalanced state according to the operating state information of the motor of the aircraft when the aircraft is in a state before taking off includes: determining whether the propeller is in an unbalanced state according to the operating state information of the motor of the aircraft when the aircraft is in a state before taking off and the vibration state quantity of the aircraft when the aircraft is in a state before taking off, wherein the vibration state quantity includes vibration intensity and vibration frequency, and the operating state quantity includes rotation speed and current of the motor, and the controller is further used for: Determining, based on the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period; Determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantity within a preset time period; It is determined whether the propeller is in an unbalanced state according to the first positive abnormal distribution and the second positive abnormal distribution.

8. A propeller abnormality detection method, characterized in that: include: Acquiring operation status information of a motor of an aircraft when the aircraft is in a non-takeoff state, wherein the aircraft comprises a power system, the power system comprises the motor and a propeller, the propeller comprises a plurality of blades, and the motor is used to drive the propeller to rotate, thereby providing flight power for the aircraft; determining whether the propeller is in an unbalanced state according to the operation status information of the motor; and outputting blade abnormality information in response to the propeller being in an unbalanced state; or, Acquire status information of at least some components of the aircraft when the aircraft is in a non-takeoff state, wherein the aircraft includes a power system, the power system includes a motor and a propeller, the propeller includes a plurality of blades, the motor is used to drive the propeller to rotate, thereby providing flight power for the aircraft, and the status information includes at least one of operating status information of the motor and vibration status information of the aircraft; determine whether the propeller is in an unbalanced state based on the operating status information of the motor and / or the vibration status information of the aircraft; and control the motor to stop running in response to the propeller being in an unbalanced state.

9. The propeller abnormality detection method according to claim 8, characterized in that: The unbalanced state includes that at least one of the plurality of blades is damaged, or when the plurality of blades are rotatable, at least one of the plurality of blades is not deployed.

10. The propeller abnormality detection method according to claim 8, characterized in that: The method further comprises: If the running time of the motor is less than the preset running time, it is determined that the aircraft is in a non-take-off state; and / or; If the rotation speed of the motor is less than the preset hovering rotation speed, it is determined that the aircraft is in a non-take-off state.

11. The propeller abnormality detection method according to claim 8, characterized in that: The running state information of the motor includes a plurality of running state quantities of the motor, the running state quantities include the rotation speed and current of the motor, and determining whether the propeller is in an unbalanced state according to the running state information of the motor includes: Determining, based on the multiple operating state quantities, a positive abnormal distribution of the operating state quantities within a preset time period; Whether the propeller is in an unbalanced state is determined according to the positive abnormal distribution of the operating state quantity within a preset time period.

12. The propeller abnormality detection method according to claim 11, characterized in that: The determining, based on the multiple operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period comprises: Counting a first number of the operating state quantities that are within a first preset abnormal operating state quantity range among the plurality of operating state quantities; Counting a second number of the operating state quantities that are within a normal second preset operating state quantity range among the multiple operating state quantities; According to the total quantity, the first quantity and the second quantity of the running state quantity, a positive abnormal distribution of the running state quantity within a preset time period is determined.

13. The propeller abnormality detection method according to claim 12, characterized in that: The determining whether the propeller is in an unbalanced state according to the positive abnormal distribution of the operating state quantity within a preset time period includes: If the ratio of the first number to the total number is greater than a first preset ratio, and / or the ratio of the second number to the total number is less than a second preset ratio, it is determined that the propeller is in an unbalanced state.

14. The propeller abnormality detection method according to claim 8, characterized in that: The vibration state information of the aircraft includes a plurality of vibration state quantities, wherein the vibration state quantities include the vibration intensity and the vibration frequency of the aircraft, and determining whether the propeller is in an unbalanced state according to the vibration state information of the aircraft includes: Determining, based on the plurality of vibration state quantities, a positive abnormal distribution of the vibration state quantities within a preset time period; Whether the propeller is in an unbalanced state is determined according to the positive abnormal distribution of the vibration state quantity within a preset time period.

15. The propeller abnormality detection method according to claim 14, characterized in that: The step of determining the positive abnormal distribution of the vibration state quantity within a preset time period according to the plurality of vibration state quantities comprises: Counting a third number of the operating state quantities within the abnormal first preset vibration state quantity range among the plurality of vibration state quantities; Counting a fourth number of the operating state quantities that are within a normal second preset vibration state quantity range among the plurality of vibration state quantities; A positive abnormal distribution of the vibration state quantity within a preset time period is determined according to the total quantity, the third quantity and the fourth quantity of the vibration state quantity.

16. The propeller abnormality detection method according to claim 8, characterized in that: The state information includes a plurality of operating state quantities of the motor and a plurality of vibration state quantities of the aircraft, the operating state quantities include the rotation speed and current of the motor, and the vibration state quantities include the vibration intensity and vibration frequency of the aircraft, and determining whether the propeller is in an unbalanced state according to the operating state information of the motor and the vibration state information of the aircraft includes: Determining, based on the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period; Determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantity within a preset time period; It is determined whether the propeller is in an unbalanced state according to the first positive abnormal distribution and the second positive abnormal distribution.

17. The propeller abnormality detection method according to any one of claims 8 to 16, characterized in that: After determining whether the propeller is in an unbalanced state according to the running state information of the motor and / or the vibration state information of the aircraft, the method further includes: When it is determined that the propeller is in an unbalanced state, the rotation speed of the motor is increased to a preset rotation speed and continued for a preset time.

18. The propeller abnormality detection method according to any one of claims 8 to 16, characterized in that: After the controlling the motor to stop running, the method further includes: The blade abnormality information is sent to a control terminal communicating with the aircraft, so that the control terminal outputs the blade abnormality information to prompt a user of the blade abnormality.

19. A propeller abnormality detection method, characterized in that: Applied to a control terminal, the control terminal is used to communicate with an aircraft and to control the aircraft, the aircraft includes a propeller; the method includes: Acquiring a blade detection result of the propeller sent by the aircraft before taking off, wherein the blade detection result is used to indicate whether the propeller is in an unbalanced state, and whether the propeller is in an unbalanced state is determined at least based on operating state information of a motor of a power system of the aircraft when the aircraft is in a state before taking off; In response to the blade detection result indicating that the propeller is in an unbalanced state, a corresponding aircraft model is displayed in a display device connected to the control terminal to provide feedback that the propeller is in an unbalanced state.

20. The propeller abnormality detection method according to claim 19, characterized in that: The operating state of the propeller on the aircraft model is determined based on the blade detection result.

21. The propeller abnormality detection method according to claim 20, characterized in that: The operating state of the propeller includes a rotating state and a stationary state. If the blade detection result indicates that the propeller is in an unbalanced state, the corresponding propeller on the aircraft model is in a stationary state. If the blade detection result indicates that the propeller is in a balanced state, the propellers of the aircraft model are all in a rotating state.

22. The propeller abnormality detection method according to claim 19, characterized in that: The method further comprises: If the blade detection result indicates that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to provide feedback that the propeller is in an unbalanced state.

23. The propeller abnormality detection method according to claim 22, characterized in that: The method further comprises: Controlling the preset paddle icon to flash at a preset flashing frequency; or The color of the preset paddle icon is controlled to cyclically switch between a first preset color and a second preset color.

24. An aircraft, characterized in that: A power system is included, the power system includes a motor and a propeller, the propeller includes a plurality of blades, the motor is used to drive the propeller to rotate, thereby providing flight power for the aircraft, and the aircraft also includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the following steps when executing the computer program: Acquiring operating state information of the motor of the aircraft when the aircraft is in a non-take-off state; determining whether the propeller is in an unbalanced state according to the operating state information of the motor; In response to the propeller being in an unbalanced state, outputting blade abnormality information; or, Acquiring state information of at least some components of the aircraft when the aircraft is in a non-takeoff state, wherein the state information includes at least one of operating state information of the motor and vibration state information of the aircraft; determining whether the propeller is in an unbalanced state according to the operating state information of the motor and / or the vibration state information of the aircraft; In response to the propeller being in an unbalanced state, the motor is controlled to stop running.

25. The aircraft according to claim 24, characterized in that The unbalanced state includes that at least one of the plurality of blades is damaged, or when the plurality of blades are rotatable, at least one of the plurality of blades is not deployed.

26. The aircraft according to claim 24, characterized in that The processor is also used to implement the following steps: If the running time of the motor is less than the preset running time, it is determined that the aircraft is in a non-take-off state; and / or; If the rotation speed of the motor is less than the preset hovering rotation speed, it is determined that the aircraft is in a non-take-off state.

27. The aircraft according to claim 24, characterized in that The running state information of the motor includes a plurality of running state quantities of the motor, the running state quantities include the rotation speed and current of the motor, and determining whether the propeller is in an unbalanced state according to the running state information of the motor includes: Determining, based on the multiple operating state quantities, a positive abnormal distribution of the operating state quantities within a preset time period; Whether the propeller is in an unbalanced state is determined according to the positive abnormal distribution of the operating state quantity within a preset time period.

28. The aircraft according to claim 27, characterized in that The determining, based on the multiple operating state quantities, the positive abnormal distribution of the operating state quantities within a preset time period comprises: Counting a first number of the operating state quantities that are within a first preset abnormal operating state quantity range among the plurality of operating state quantities; Counting a second number of the operating state quantities that are within a normal second preset operating state quantity range among the multiple operating state quantities; According to the total quantity, the first quantity and the second quantity of the running state quantity, a positive abnormal distribution of the running state quantity within a preset time period is determined.

29. The aircraft according to claim 28, characterized in that The determining whether the propeller is in an unbalanced state according to the positive abnormal distribution of the operating state quantity within a preset time period includes: If the ratio of the first number to the total number is greater than a first preset ratio, and / or the ratio of the second number to the total number is less than a second preset ratio, it is determined that the propeller is in an unbalanced state.

30. The aircraft according to claim 24, characterized in that The vibration state information of the aircraft includes a plurality of vibration state quantities of the aircraft, wherein the vibration state quantities include a vibration intensity and a vibration frequency of the aircraft, and determining whether the propeller is in an unbalanced state according to the vibration state information of the aircraft includes: Determining, based on the plurality of vibration state quantities, a positive abnormal distribution of the vibration state quantities within a preset time period; Whether the propeller is in an unbalanced state is determined according to the positive abnormal distribution of the vibration state quantity within a preset time period.

31. The aircraft according to claim 30, characterized in that The step of determining the positive abnormal distribution of the vibration state quantity within a preset time period according to the plurality of vibration state quantities comprises: Counting a third number of the operating state quantities within the abnormal first preset vibration state quantity range among the plurality of vibration state quantities; Counting a fourth number of the operating state quantities that are within a normal second preset vibration state quantity range among the plurality of vibration state quantities; A positive abnormal distribution of the vibration state quantity within a preset time period is determined according to the total quantity, the third quantity and the fourth quantity of the vibration state quantity.

32. The aircraft according to claim 24, characterized in that The state information includes a plurality of operating state quantities of the motor and a plurality of vibration state quantities of the aircraft, the operating state quantities include the rotation speed and current of the motor, and the vibration state quantities include the vibration intensity and vibration frequency of the aircraft, and determining whether the propeller is in an unbalanced state according to the operating state information of the motor and the vibration state information of the aircraft includes: Determining, based on the plurality of operating state quantities, a first positive abnormal distribution of the operating state quantities within a preset time period; Determining, according to the plurality of vibration state quantities, a second positive abnormal distribution of the vibration state quantity within a preset time period; It is determined whether the propeller is in an unbalanced state according to the first positive abnormal distribution and the second positive abnormal distribution.

33. An aircraft according to any one of claims 24 to 32, characterized in that After determining whether the propeller is in an unbalanced state according to the running state information of the motor and / or the vibration state information of the aircraft, the method further includes: In response to the propeller being in an unbalanced state, the rotation speed of the motor is increased to a preset rotation speed and continued for a preset time period.

34. An aircraft according to any one of claims 24 to 32, characterized in that After the controlling the motor to stop running, the method further includes: The blade abnormality information is sent to a control terminal communicating with the aircraft, so that the control terminal outputs the blade abnormality information to prompt a user of the blade abnormality.

35. A control terminal, characterized in that: The control terminal is used to communicate with an aircraft and control the aircraft. The aircraft includes a power system, and the power system includes a motor and a propeller. The motor is used to drive the propeller to rotate, thereby providing flight power for the aircraft. The control terminal includes a memory and a processor. The memory is used to store computer programs; The processor is used to execute the computer program and implement the following steps when executing the computer program: Acquiring a blade detection result of the propeller sent by the aircraft before taking off, wherein the blade detection result is used to indicate whether the propeller is in an unbalanced state, and whether the propeller is in an unbalanced state is determined at least based on operating state information of a motor of a power system of the aircraft when the aircraft is in a state before taking off; In response to the blade detection result indicating that the propeller is in an unbalanced state, a corresponding aircraft model is displayed in a display device connected to the control terminal to provide feedback that the propeller is in an unbalanced state.

36. The control terminal according to claim 35, characterized in that: The operating state of the propeller on the aircraft model is determined based on the blade detection result.

37. The control terminal according to claim 36, characterized in that: The operating state of the propeller includes a rotating state and a stationary state. If the blade detection result indicates that the propeller is in an unbalanced state, the corresponding propeller on the aircraft model is in a stationary state. If the blade detection result indicates that the propeller is in a balanced state, the propellers of the aircraft model are all in a rotating state.

38. The control terminal according to claim 35, characterized in that: The processor is also used to implement the following steps: If the blade detection result indicates that the propeller is in an unbalanced state, the display device is controlled to display a preset blade icon to provide feedback that the propeller is in an unbalanced state.

39. The control terminal according to claim 38, characterized in that: The processor is also used to implement the following steps: Controlling the preset paddle icon to flash at a preset flashing frequency; or The color of the preset paddle icon is controlled to cyclically switch between a first preset color and a second preset color.

40. A control system, characterized in that: The control system comprises an aircraft as claimed in any one of claims 24 to 34 and a control terminal as claimed in any one of claims 35 to 39, wherein the control terminal is communicatively connected with the aircraft for controlling the aircraft.

41. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the propeller abnormality detection method according to any one of claims 8 to 23.

42. An aircraft according to any one of claims 1 to 7, a method according to any one of claims 8 to 23, an aircraft according to any one of claims 24 to 34, a control terminal according to any one of claims 35 to 39 or a control system according to claim 40, wherein the aircraft comprises a drone.

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