Rotor power control method and device, unmanned aerial vehicle and computer readable storage medium

Abstract

The application provides a rotor power control method and device, an unmanned aerial vehicle and a computer readable storage medium. The method comprises the following steps: obtaining the temperature of the plug-in part of each rotor on the target unmanned aerial vehicle; adjusting the power parameters of each rotor according to the temperature of the plug-in part of each rotor, and obtaining the target power parameters corresponding to each rotor respectively; and controlling each rotor to work according to the target power parameters corresponding to each rotor respectively. The rotor power control method provided by the application can effectively avoid the situation that the temperature of the plug-in part of the rotor is too high, and can effectively improve the flight stability of the unmanned aerial vehicle by setting the target power parameters of each rotor according to the temperature of the plug-in part of each rotor.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a rotor power control method, device, UAV, and computer-readable storage medium. Background Technology

[0002] With the development of technology, more and more drones are being applied to all aspects of human life. Currently, the most commonly used drones are multi-rotor drones, and in order to facilitate the replacement of the rotors of multi-rotor drones, the rotors are usually connected to the power unit through a plug-in interface.

[0003] However, in actual flight, it was found that multi-rotor drones that use a plug-in interface to connect the rotor to the power unit have poor stability and often have the problem of the rotor suddenly stopping working, especially after long-term flight, they are prone to crashing. Summary of the Invention

[0004] This application provides a rotor power control method, device, drone, and computer-readable storage medium, aiming to solve the technical problems of poor stability and easy crashes in existing multi-rotor drones.

[0005] On one hand, embodiments of this application provide a rotor power control method, including:

[0006] Obtain the temperature of the connectors for each rotor on the target drone;

[0007] The power parameters of each rotor are adjusted according to the temperature of the connector of each rotor to obtain the target power parameters corresponding to each rotor.

[0008] The operation of each rotor is controlled according to the target power parameters corresponding to each rotor.

[0009] As an optional embodiment of this application, the step of adjusting the power parameters of each rotor according to the temperature of the connector of each rotor to obtain the target power parameters corresponding to each rotor includes:

[0010] The temperatures of the connectors corresponding to each rotor are compared to obtain the maximum connector temperature and the first rotor corresponding to the maximum connector temperature.

[0011] The maximum connector temperature is compared with a preset first temperature threshold.

[0012] If the maximum connector temperature is higher than the first temperature threshold, then reduce the power parameters of the first rotor to obtain the target power parameters corresponding to the first rotor.

[0013] The target power parameters corresponding to the remaining rotors on the target UAV are set according to the target power parameters corresponding to the first rotor.

[0014] As an optional embodiment of this application, the step of reducing the power parameters of the first rotor to obtain the target power parameters corresponding to the first rotor includes:

[0015] Query the preset database to obtain the parameter adjustment coefficient corresponding to the maximum connector temperature;

[0016] The power parameters of the first rotor are reduced by adjusting the parameter coefficients to obtain the target power parameters corresponding to the first rotor.

[0017] As an optional embodiment of this application, the step of setting the target power parameters corresponding to the remaining rotors on the target UAV according to the target power parameters corresponding to the first rotor includes:

[0018] Obtain the relative positional relationship between the first rotor and other rotors on the target UAV besides the first rotor;

[0019] Based on the relative positional relationship, the rotors on the target UAV, excluding the first rotor, are divided into symmetrical rotors and asymmetrical rotors;

[0020] Set the target power parameters corresponding to the first rotor to the target power parameters corresponding to the symmetrical rotor;

[0021] The target power parameters corresponding to the asymmetric rotor are set according to the preset flight parameters and the target power parameters corresponding to the first rotor.

[0022] As an optional embodiment of this application, after comparing the temperatures of the connectors corresponding to each rotor to obtain the maximum connector temperature and the first rotor corresponding to the maximum connector temperature, the method further includes:

[0023] The maximum connector temperature is compared with a preset second temperature threshold; the second temperature threshold is greater than the first temperature threshold.

[0024] If the maximum connector temperature is higher than the second temperature threshold, a forced landing command is output.

[0025] The target drone is controlled to complete the forced landing operation according to the forced landing command.

[0026] As an optional embodiment of this application, the step of adjusting the power parameters of each rotor according to the temperature of the connector of each rotor to obtain the target power parameters corresponding to each rotor includes:

[0027] The temperature of the connector of each rotor is compared with a preset third temperature threshold.

[0028] The rotor whose connector temperature is higher than the third temperature threshold is designated as the second rotor.

[0029] By reducing the power parameters of the second rotor, the target power parameters corresponding to the second rotor are obtained.

[0030] As an optional embodiment of this application, obtaining the temperature of the connectors of each rotor on the target UAV includes:

[0031] Collect carrier communication signals on the preset power supply line of the target UAV;

[0032] The carrier communication signal is demodulated to obtain the temperature of the connectors of each rotor on the target UAV.

[0033] On the other hand, embodiments of this application also provide a rotor power control device, including:

[0034] Temperature acquisition module, used to acquire the temperature of the connectors of each rotor on the target UAV;

[0035] The parameter setting module is used to adjust the power parameters of each rotor according to the temperature of the connector of each rotor, so as to obtain the target power parameters corresponding to each rotor.

[0036] The rotor control module is used to control the operation of each rotor according to the target power parameters corresponding to each rotor.

[0037] On the other hand, this application also provides an unmanned aerial vehicle (UAV), which includes a power unit, multiple rotors connected to the power unit via multiple connectors, a processor, a memory, and a rotor power control program stored in the memory and executable on the processor. The processor executes the rotor power control program to implement the steps in the rotor power control method described above.

[0038] On the other hand, embodiments of this application also provide a computer-readable storage medium storing a rotor power control program, which is executed by a processor to implement the steps in the rotor power control method described above.

[0039] This application embodiment collects the temperature of the connectors of each rotor on the UAV, sets the target power parameters of each rotor based on the temperature of the connectors, and then controls the operation of the rotors based on the target power parameters. Since the set target power parameters are based on the connector temperature, the temperature of the rotor connectors can be effectively avoided from being too high, thus preventing the UAV from melting due to the high temperature of the connectors and causing poor rotor contact, and effectively improving the flight stability of the UAV. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a scenario for the rotor power control method provided in an embodiment of this application;

[0042] Figure 2 This is a schematic flowchart of the first embodiment of the rotor power control method provided in this application.

[0043] Figure 3 This is a schematic flowchart of the second embodiment of the rotor power control method provided in this application.

[0044] Figure 4 This is a schematic flowchart of the third embodiment of the rotor power control method provided in this application.

[0045] Figure 5 This is a schematic flowchart of the fourth embodiment of the rotor power control method provided in this application.

[0046] Figure 6 This is a schematic flowchart of the fifth embodiment of the rotor power control method provided in this application.

[0047] Figure 7 This is a schematic flowchart of the sixth embodiment of the rotor power control method provided in this application.

[0048] Figure 8 This is a schematic flowchart of the seventh embodiment of the rotor power control method provided in this application.

[0049] Figure 9 This is a schematic diagram of data transmission based on low-voltage carrier communication provided in the embodiments of this application;

[0050] Figure 10This is a schematic diagram of the functional modules of the rotor power control device provided in the embodiments of this application;

[0051] Figure 11 This is a schematic diagram of the rotor power control device provided in the embodiments of this application. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of the present invention.

[0053] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in the embodiments of this application.

[0054] This application provides a rotor power control method, device, unmanned aerial vehicle, and computer-readable storage medium, which will be described in detail below.

[0055] First, the relevant background technology of this application is described. A multi-rotor drone is an unmanned rotary-wing aircraft powered by three or more rotors. Currently, the most common types are hexacopter, octacopter, and dodecacopter. Typically, the rotors of a drone are connected to the power unit via wires. If the rotors are directly welded to the wires, subsequent maintenance becomes very difficult. Therefore, for ease of maintenance, each rotor is connected to the wire via a connector. However, in actual flight, it has been found that multi-rotor drones often experience sudden, brief rotor malfunctions, affecting flight stability and, in severe cases, even leading to forced landings. Inspection of drones exhibiting these malfunctions revealed that the connectors between the rotors and wires were melting. This means that when the drone is continuously operating, the heat generated by the rotor rotation causes the connectors to melt, resulting in poor power contact and thus malfunction. Simply using higher-specification, higher-performance connectors would increase the weight and cost of the drone.

[0056] Based on the above findings, this application proposes a rotor power control method, device, unmanned aerial vehicle (UAV), and computer-readable storage medium. By monitoring the temperature of the connectors on the UAV, the rotor power is adaptively adjusted to prevent the connectors from overheating and melting, which could lead to poor rotor contact and thus effectively improve the flight stability of the rotor-driven UAV. Specifically, the implementation method and scenarios of the rotor power control method are shown below.

[0057] like Figure 1 As shown, Figure 1 This is a schematic diagram of a rotor power control scenario according to an embodiment of this application. Specifically, it includes a rotor power control device 110, a power unit 120, multiple rotors 130, and connectors 140 corresponding to each rotor. It can be understood that the schematic diagram of rotor power control provided in this embodiment can also be understood as a simplified structural diagram of a drone. Of course, to achieve the complete flight function of a drone, it requires at least other modules. However, considering that this application is mainly for implementing rotor power control, and the settings of other drone functional modules are common knowledge in the art, this embodiment only shows several components related to rotor power control, but this does not imply any limitation on the drone.

[0058] In this embodiment of the invention, the rotor power control device 100 is mainly used to realize the power control of the rotor. Specifically, the rotor power control device acquires the temperature of the connectors of each rotor on the target UAV; adjusts the power parameters of each rotor according to the connector temperature of each rotor to obtain the target power parameters corresponding to each rotor; and controls the operation of each rotor according to the target power parameters corresponding to each rotor. It can be seen that the rotor power control device provided in this application embodiment can be understood as a type of UAV control module. Therefore, the rotor power control device is usually integrated into the flight control system of the UAV, that is, the flight control system.

[0059] The power unit can be simply understood as the energy source for a drone, primarily used to provide power to components within the drone, including but not limited to the rotor. For example, it is connected to the rotor via wires to provide power. Specifically, the power unit is usually integrated with the power management unit (PMU), allowing the rotor power control module to manage the power supply and thus control the rotor's power.

[0060] To facilitate maintenance, the multiple rotors of a drone are typically connected to the power supply wires of the power unit via connectors. Under normal operating conditions, the connectors make good contact, and the power unit can stably supply energy to the rotors.

[0061] It should be noted that, Figure 1 The schematic diagram of the rotor power control scenario shown is merely an example. The rotor power control scenario described in this embodiment of the invention is intended to more clearly illustrate the technical solution of the embodiment of the invention and does not constitute a limitation on the technical solution provided by the embodiment of the invention. In fact, the number of rotors and connectors included in the schematic diagram of the rotor power control scenario provided in this application embodiment is not limited to 6.

[0062] Based on the above-mentioned rotor power control scenario, an embodiment of the rotor power control method is proposed.

[0063] like Figure 2 As shown, Figure 2 This is a flowchart illustrating the first embodiment of the rotor power control method provided in this application. The rotor power control method in this embodiment includes steps 201-203:

[0064] 201. Obtain the temperature of the connectors of each rotor on the target UAV.

[0065] In this embodiment, the rotor connector temperature refers to the temperature of the connector between the rotor and the wire on the UAV, in conjunction with the aforementioned... Figure 1 As shown in the scene diagram, there is a one-to-one correspondence between the rotor and the connector. Therefore, for each rotor, the temperature of its corresponding connector is also unique.

[0066] In this embodiment, the connector temperature can be acquired using a temperature sensor. In fact, considering that drones are typically equipped with temperature sensors to collect ambient temperature, power supply temperature, and other data to ensure normal flight, acquiring the connector temperature simply requires adding a sensing probe to the existing drone temperature sensor.

[0067] It should be noted that the connector temperatures collected by the temperature sensor typically need to be transmitted to the rotor power control unit for processing. Considering that there are multiple connector temperatures collected, each corresponding to a different rotor, the temperature sensor, after collecting the connector temperature, first packages it along with the corresponding rotor identification information and then sends it to the rotor power control unit. This allows the rotor power control unit to determine the connector temperature corresponding to each rotor.

[0068] Furthermore, there are many ways for the temperature sensor to transmit the collected connector temperature to the rotor power control device. For example, it can be transmitted via wired or wireless means. However, considering that wireless data transmission would increase the cost of the drone, and wired data transmission would increase the weight of the drone, as an optional embodiment of this application, the temperature sensor uses low-voltage carrier communication technology to transmit the temperature. Please refer to the following sections for details. Figure 8 And its explanations and descriptions.

[0069] 202. Adjust the power parameters of each rotor according to the temperature of the connector of each rotor to obtain the target power parameters corresponding to each rotor.

[0070] In this embodiment, it is understood that when the connector temperature is too high, it indicates a risk of melting. In this case, the rotor may experience poor contact with the power unit, leading to a power outage and affecting the normal flight of the UAV. Therefore, the power parameters of each rotor can be adaptively adjusted based on the connector temperature to obtain target power parameters for each rotor, thus preventing connector melting. Specifically, when there is a risk of connector melting, the target power parameter for the rotor should be lower than the current rotor power parameter; that is, the rotor power parameter needs to be reduced to obtain the corresponding target power parameter.

[0071] In this application embodiment, there are many specific ways to adjust the rotor power parameters based on the connector temperature. For example, the connector temperature of each rotor can be compared with a preset temperature threshold to determine whether there is any abnormality of connector melting in each rotor. Alternatively, the highest connector temperature can be extracted first, and then subsequent comparisons and settings can be performed. Specific implementation schemes can be found in the following sections. Figure 3 , Figure 5 And its explanations and descriptions.

[0072] 203. Control the operation of each rotor according to the target power parameters corresponding to each rotor.

[0073] In this embodiment, after setting the target power parameters corresponding to the rotors based on the temperature of the connectors of each rotor, the rotor power control device can further output corresponding instructions to the power management unit so that the power management unit controls the power device to provide corresponding power to the rotors, so that the rotors work according to the target power parameters.

[0074] In this embodiment of the application, it should be noted that during the flight of the UAV, the collection of the connector temperature and the subsequent setting of the rotor power parameters are continuous. Specifically, as a feasible solution, the connector temperature can be collected at a certain period, for example, every minute, and the connector temperature can be used to set the rotor power parameters.

[0075] This application embodiment collects the temperature of the connectors of each rotor on the UAV, sets the target power parameters of each rotor based on the temperature of the connectors, and then controls the operation of the rotors based on the target power parameters. Since the set target power parameters are based on the connector temperature, the temperature of the rotor connectors can be effectively avoided from being too high, thus preventing the UAV from melting due to the high temperature of the connectors and causing poor rotor contact, and effectively improving the flight stability of the UAV.

[0076] like Figure 3 As shown, Figure 3 This is a schematic flowchart of the second embodiment of the rotor power control method provided in this application.

[0077] In this embodiment of the application, a method for adjusting power parameters based on the maximum connector temperature is provided, specifically including steps 301-304:

[0078] 301. Compare the temperatures of the connectors corresponding to each rotor to obtain the maximum connector temperature and the first rotor corresponding to the maximum connector temperature.

[0079] In this embodiment, as described above, a higher connector temperature indicates a higher risk of the connector melting, and consequently, a higher risk of rotor power failure. Therefore, to simplify the rotor control logic, the connector temperatures corresponding to each rotor can be compared to find the maximum value, i.e., the maximum connector temperature. Furthermore, since there is a one-to-one correspondence between connector temperatures and rotors, the first rotor corresponding to the maximum connector temperature can be determined. Specifically, as described above, connector temperatures are usually associated with rotor identification information; that is, the first rotor can be easily determined based on the rotor identification information of the maximum connector temperature. In this case, the first rotor is the rotor in the drone most likely to experience a power failure.

[0080] In this embodiment, there are many ways to extract the maximum value from the temperature of the connector corresponding to each rotor, i.e., the maximum connector temperature. For example, each time, two connector temperatures are compared, and the larger connector temperature is retained. This process is repeated for all connector temperatures, and the final retained connector temperature is the maximum connector temperature. Considering that finding the maximum value is common knowledge in the art, this application will not elaborate on it here.

[0081] 302. The maximum connector temperature is compared with a preset first temperature threshold.

[0082] In this embodiment, by comparing the maximum connector temperature with a pre-set first temperature threshold, it is possible to determine which rotor in the drone is most likely to experience a power outage risk, i.e., whether the first rotor is at risk of losing power due to connector melting. The first temperature threshold can be pre-determined experimentally. Specifically, the rotor is in operation, and when connector melting or frequent power outages are detected, the connector temperature is collected. This process is repeated multiple times, and the first temperature threshold is set based on the statistical distribution of the collected connector temperatures. For example, the simplest approach is to set the minimum collected connector temperature as the first temperature threshold, or the first temperature threshold can be set based on the 3σ principle. The specific rules for setting the first temperature threshold are not limited in this invention and can be set according to the user's actual needs.

[0083] 303. If the maximum connector temperature is higher than the first temperature threshold, then reduce the power parameters of the first rotor to obtain the target power parameters corresponding to the first rotor.

[0084] In this embodiment, if the maximum connector temperature is higher than the first temperature threshold, it indicates that the first rotor is at risk of losing power due to connector melting. In this case, the power parameters of the first rotor can be appropriately reduced, i.e., the heat generated by the first rotor can be reduced, thus reducing the risk of the connector melting and causing poor contact leading to power loss. Conversely, if the maximum connector temperature is not higher than the first temperature threshold, it indicates that the actual risk of the first rotor losing power due to connector melting is low. In this case, the power parameters of the rotor do not need to be adjusted; it is sufficient to continue monitoring the connector temperature of each rotor. Of course, as an optional solution in this application, considering that the connector temperature of the first rotor is the highest, its power parameters can also be finely adjusted appropriately. It should be noted that when the maximum connector temperature is not higher than the first temperature threshold, adjusting the power parameters of the rotor will not affect the implementation of the technical solution of this application. Whether to adjust them can be set according to actual needs, and this application does not limit this.

[0085] In this application embodiment, there are many ways to reduce the power parameters of the first rotor. For example, the existing power parameters of the first rotor can be reduced by a certain percentage, such as 10%, to obtain the target power parameters. In a preferred embodiment of this application, the target power parameters obtained by reducing the power parameters of the first rotor are related to the maximum connector temperature; please refer to the following for details. Figure 4 And its explanations and descriptions.

[0086] 304. Set the target power parameters corresponding to the remaining rotors on the target UAV according to the target power parameters corresponding to the first rotor.

[0087] Considering that normal operation of a drone typically places certain demands on the power parameters of each rotor, after dynamically adjusting the power parameters corresponding to the first rotor, it is necessary to further adjust the power parameters corresponding to the remaining rotors on the target drone to obtain the target power parameters for the remaining rotors. As an optional embodiment of this application, the power parameters of the remaining rotors are related to their installation position relative to the first rotor; details can be found in subsequent descriptions. Figure 4 And its explanations and descriptions.

[0088] Furthermore, as an optional embodiment of this application, a second temperature threshold higher than the first temperature threshold can be set. Specifically, when the maximum connector temperature exceeds the second temperature threshold, it indicates that the connector temperature is abnormally high, or that the aforementioned method of adjusting the power parameters cannot reduce the connector temperature. This means that a component of the drone may be malfunctioning, and the drone is at risk of crashing, thus requiring an emergency landing. For details, please refer to the subsequent sections. Figure 6 And its explanations and descriptions.

[0089] In this embodiment of the application, a scheme is proposed to adjust the power parameters of each rotor by using the maximum value of the connector temperature. Since the connector temperature reflects the probability of the rotor losing power to a certain extent, extracting the maximum value of the connector temperature can effectively reduce the amount of data processing in the subsequent control module.

[0090] like Figure 4 As shown, Figure 4 This is a schematic flowchart of the third embodiment of the rotor power control method provided in this application.

[0091] In this embodiment of the application, a scheme for setting target power parameters based on the temperature of the connector is proposed, specifically including steps 401-402:

[0092] 401. Query the preset database to obtain the parameter adjustment coefficient corresponding to the maximum connector temperature.

[0093] In this embodiment, it is understood that a higher maximum connector temperature indicates a higher risk of the rotor falling to the ground. Therefore, it is necessary to reduce the rotor's power parameters as quickly as possible to lower the connector temperature. In other words, for the first rotor, its connector temperature and target power parameters should be inversely proportional; that is, the higher the connector temperature, the lower the set target power parameters, and the greater the reduction in power parameters should be. Specifically, the temperatures of each connector and their corresponding parameter adjustment coefficients can be pre-stored in a database. Thus, after obtaining the maximum connector temperature, the rotor power control device can directly obtain the corresponding parameter adjustment coefficients by querying the database. For example, as a feasible solution of this application, when the difference between the maximum connector temperature and the first temperature threshold is less than 3°C, the corresponding parameter adjustment coefficient can be set to 95%; when the difference between the maximum connector temperature and the first temperature threshold is less than 5°C and greater than 3°C, the corresponding parameter adjustment coefficient can be set to 90%; and when the difference between the maximum connector temperature and the first temperature threshold is less than 10°C and greater than 5°C, the corresponding parameter adjustment coefficient can be set to 85%. Of course, the mapping relationship between the maximum connector temperature and the parameter adjustment coefficient is not limited to the above examples. The specific mapping relationship can be set according to the user's actual needs or according to experimental tests, which will not be elaborated here.

[0094] 402. Adjust the power parameters of the first rotor according to the parameter adjustment coefficient to obtain the target power parameters corresponding to the first rotor.

[0095] In this embodiment, after obtaining the parameter adjustment coefficient corresponding to the maximum connector temperature, the power parameters of the first rotor can be reduced directly according to the parameter adjustment coefficient, for example, reduced to 95% or 90% of the original power parameters, and the power parameters obtained at this time are the target power parameters.

[0096] In this application embodiment, a scheme is proposed to set the target power parameters based on the maximum connector temperature. Specifically, the higher the maximum connector temperature, the greater the reduction in power parameters, which can ensure that the connector temperature drops to the normal level more quickly, thus effectively ensuring the flight safety of the UAV while ensuring its flight capability.

[0097] like Figure 5 As shown, Figure 5 This is a schematic flowchart of the fourth embodiment of the rotor power control method provided in this application.

[0098] In this embodiment of the application, a scheme for setting the target power parameters corresponding to the remaining rotors on the target UAV is proposed, specifically including steps 501-504:

[0099] 501, Obtain the relative positional relationship between the first rotor and other rotors on the target UAV besides the first rotor.

[0100] In this embodiment, to ensure the flight balance of the UAV, the rotors in most rotary-wing UAVs are symmetrically arranged. Therefore, the relative positional relationship between the first rotor and the other rotors on the target UAV (excluding the first rotor) can be obtained. Specifically, the relative positional relationship includes two types: symmetrical arrangement and asymmetrical arrangement. Figure 1 Taking the illustrated rotor power control method as an example, among the six rotors (upper left, middle left, lower left, upper right, middle right, lower right), the upper left and lower right are symmetrically arranged, the middle left and middle right are symmetrically arranged, and the lower left and upper right are symmetrically arranged. Of course, for UAVs containing other numbers of rotors, the relative positions of the rotors can also be determined accordingly, which will not be elaborated upon here.

[0101] 502. Based on the relative positional relationship, the rotors on the target UAV other than the first rotor are divided to obtain symmetrical rotors and asymmetrical rotors.

[0102] In this embodiment of the application, as described above, the relative positional relationship includes symmetrical and asymmetrical configurations. Therefore, other rotors can be classified based on this relative positional relationship. Specifically, symmetrical rotors are designated as symmetrical rotors, and asymmetrical rotors are designated as asymmetrical rotors. For example, taking the first rotor as the upper left, the lower right is a symmetrical rotor, while the middle left, lower left, upper right, and middle right are all asymmetrical rotors.

[0103] 503, set the target power parameters corresponding to the first rotor to the target power parameters corresponding to the symmetrical rotor.

[0104] In this embodiment, it is understood that to ensure the balance of the UAV flight, the power parameters of the rotors in a symmetrical configuration need to remain the same; otherwise, the UAV is prone to imbalance. Therefore, when the power parameters of the first rotor are reduced to a lower target power parameter, even if the temperature of the connector of the symmetrical rotor does not exceed the first temperature threshold, the power parameters of the corresponding symmetrical rotor need to be adjusted to the target power parameter. That is, the target power parameter corresponding to the first rotor is set to the target power parameter corresponding to the symmetrical rotor to maintain the balanced flight of the UAV.

[0105] 504. Set the target power parameters corresponding to the asymmetric rotor according to the preset flight parameters and the target power parameters corresponding to the first rotor.

[0106] In this embodiment, correspondingly, considering the actual flight process, flight parameters are pre-set based on flight needs, thereby setting the power parameters of each rotor. Therefore, when the power parameters of the first rotor and the symmetrical rotor are adjusted to the target power parameters, the target power parameters corresponding to the remaining asymmetrical rotors also need to be readjusted according to the actual flight parameters. Typically, the power parameters of the asymmetrical rotors are appropriately increased to ensure the UAV's flight power. Of course, the specific adjustment of the power parameters of the asymmetrical rotors depends on the pre-set flight parameters, which will not be elaborated upon here.

[0107] In this application embodiment, a scheme for further setting the power parameters of the remaining rotor is proposed. Specifically, different power parameter setting schemes are adopted based on the relative positional relationship between the remaining rotor and the first rotor. For symmetrically set rotors, the target power parameters corresponding to the first rotor are directly set as its power parameters to ensure the stable flight of the aircraft. For asymmetrically set rotors, the power parameters are further adjusted appropriately according to the preset flight parameters to ensure that the UAV flies as required.

[0108] like Figure 6 As shown, Figure 6This is a schematic flowchart of the fifth embodiment of the rotor power control method provided in this application.

[0109] In this application embodiment, a scheme for controlling the forced landing of a drone based on the maximum connector temperature is proposed, specifically including steps 601-604:

[0110] 601. The maximum connector temperature is compared with a preset second temperature threshold.

[0111] In this embodiment of the application, the set second temperature threshold is greater than the first temperature threshold, that is, the second temperature threshold can be used to determine whether the maximum connector temperature is abnormally high.

[0112] 602. If the maximum connector temperature is higher than the second temperature threshold, a forced landing command is output.

[0113] In this embodiment of the application, as described above, when the maximum connector temperature exceeds the first temperature threshold, the rotor power parameters will be correspondingly reduced to lower the connector temperature, thereby ensuring that the connector temperature remains stable at a low level. In other words, when the maximum connector temperature exceeds the second temperature threshold, it indicates that adjusting the power parameters conventionally cannot reduce the connector temperature, meaning that a component of the drone may have malfunctioned. Therefore, an emergency landing is necessary to avoid the drone crashing. Specifically, when the maximum connector temperature is abnormally high, exceeding the second temperature threshold, the rotor power control device will output a landing command to force the drone to land.

[0114] 603, Control the target UAV to complete the forced landing operation according to the forced landing command.

[0115] In this application embodiment, a scheme is proposed to further set a higher second temperature threshold for detecting the drone. That is, by comparing the maximum connector temperature and the second temperature threshold, if the maximum connector temperature is higher than the second temperature threshold, it indicates that the drone cannot effectively maintain the connector temperature at a low level by reducing the rotor power parameters, that is, the drone may have a component failure. Therefore, a forced landing command can be output to control the target drone to complete the forced landing operation and avoid the drone from crashing due to failure.

[0116] like Figure 7 As shown, Figure 7 This is a schematic flowchart of the sixth embodiment of the rotor power control method provided in this application.

[0117] In this embodiment of the application, another implementation scheme for setting power parameters based on the temperature of the connector is provided, specifically including steps 701-703:

[0118] 701, compare the temperature of the connector of each rotor with the preset third temperature threshold.

[0119] Unlike the previous method of first extracting the maximum temperature of the connector, the solution provided in this application directly compares the temperature of the connector of each rotor with a preset third temperature threshold to determine whether each rotor is at risk of losing power due to the connector melting. Specifically, the third temperature threshold set in this application serves the same purpose as the first temperature threshold set in the aforementioned technical solution. Therefore, theoretically, the value of the third temperature threshold can be equal to the aforementioned first temperature threshold, or it can be determined in advance through experiments. This application will not elaborate further on this.

[0120] 702, The rotor whose connector temperature is higher than the third temperature threshold is set as the second rotor.

[0121] In this embodiment, for rotors with a connector temperature higher than the third temperature threshold, there is a risk of power loss due to connector melting. Therefore, for rotors meeting this condition, their power parameters need to be adaptively reduced; that is, rotors with connector temperatures higher than the third temperature threshold can be designated as second rotors. For the remaining rotors that do not meet this condition, i.e., rotors with connector temperatures not higher than the third temperature threshold, the risk of power loss due to connector melting is low, and their power parameters can be unrestricted.

[0122] In this embodiment of the application, it should be noted that the second rotor may be any rotor on the drone, or it may be multiple rotors on the drone.

[0123] 703, reduce the power parameters of the second rotor to obtain the target power parameters corresponding to the second rotor.

[0124] In this embodiment of the application, by adaptively reducing the power parameters of the second rotor, the target power parameters corresponding to each second rotor can be obtained.

[0125] It should be noted that there are many ways to obtain the target power parameters for the second rotor by reducing its power parameters. For example, the aforementioned methods can be used. Figure 4 The proposed solution is determined based on the temperature of the connector of the second rotor; please refer to the aforementioned document for details. Figure 4 The relevant explanations are not elaborated here.

[0126] Furthermore, it's important to emphasize that since the second rotor may be multiple rotors on the drone, the target power parameters for each rotor must be determined based on the actual situation. For example, for symmetrically arranged rotors on a drone, their power parameters usually need to be equal to maintain the drone's balance. Therefore, when the target power parameters for symmetrically arranged rotors differ, their power parameters can be uniformly set to the smaller of the two target power parameters. Moreover, during the process of reducing the rotor's power parameters, pre-set flight parameters will also be considered simultaneously.

[0127] As a further optional solution of this application, the temperature of the connector of each rotor is compared with a preset fourth temperature threshold. The fourth temperature threshold is used in the same way as the aforementioned second temperature threshold to determine whether the temperature of the rotor connector is abnormally high. If the temperature of a connector of a rotor is higher than the fourth temperature threshold, the rotor power control device will also output a forced landing command to control the UAV to perform a forced landing operation.

[0128] Compared to simply comparing the maximum temperature of the connector, the technical solution proposed in this application compares the temperatures of the connectors of all rotors simultaneously to determine whether there is a risk of power loss due to the melting of the connectors in each rotor. This can better avoid the phenomenon of excessively high connector temperatures and achieve better rotor power control.

[0129] like Figure 8 As shown, Figure 8 This is a schematic flowchart of the seventh embodiment of the rotor power control method provided in this application.

[0130] As described above, after the temperature sensors collect the temperatures of the connectors on each rotor, they need to transmit the temperature information to the soaring power control device in the flight control system for data processing, thereby facilitating subsequent power control of the rotors. Considering that existing wireless or wired communication methods would increase the weight and cost of the UAV, this application proposes a data transmission scheme based on low-voltage carrier communication technology, specifically including steps 801-802:

[0131] 801, Collect carrier communication signals on the preset power supply line of the target UAV.

[0132] In this embodiment, the preset power supply line in the UAV typically refers to the power supply bus, which is the line used to supply power to various components. At this time, after the temperature sensor collects the temperature of the connector, it associates it with the corresponding rotor identification information and uses a slave module with modulation signal function to package and modulate a carrier communication signal, which is then transmitted to the UAV's power supply bus. Simultaneously, while the power supply bus supplies power to the rotor power control device, the rotor power control device collects the carrier communication signal sent by the temperature sensor from this power supply line.

[0133] Specifically, as an optional embodiment of this application, since the slave module only needs to transmit data, that is, it only needs to have the function of modulating signals, the existing PB331 slave module can be selected as the slave module. This application will not elaborate on the specific circuit structure of the PB331 slave module. Of course, other models of slave modules can also be selected based on actual needs.

[0134] 802, demodulate the carrier communication signal to obtain the temperature of the connectors of each rotor on the target UAV.

[0135] Furthermore, after the rotor power control device collects the carrier communication signal sent by the temperature sensor from the power supply line, it uses the master station module with demodulation function to demodulate the carrier communication signal to obtain the connector temperature and the associated rotor identification information, thereby obtaining the connector temperature of each rotor on the target UAV.

[0136] Specifically, as an optional embodiment of this application, since the master station module needs to send and receive data, it needs to have both modulation and demodulation signal functions. Therefore, the existing PB620 master station module can be selected as the master station module. This application will not elaborate on the specific circuit structure of the PB620 master station module. Of course, other models of master station modules can also be selected based on actual needs.

[0137] This application proposes a data transmission implementation scheme based on low-voltage carrier communication technology. Compared with conventional wireless or wired communication methods, this scheme can effectively reduce the cost and weight of the UAV and make the technical solution of this application more feasible.

[0138] To facilitate understanding of the solution provided in this application for achieving connector temperature transmission based on low-voltage carrier communication technology, such as... Figure 9 The diagram shows a data transmission schematic based on low-voltage carrier communication, which is described in detail below.

[0139] In this embodiment, after the temperature sensor collects the temperature of the connector of each rotor through the temperature sensing probe, it will associate the information with the corresponding rotor identification information and send it to the PB331 slave module. After the PB331 slave module completes the modulation of the information, it will transmit the modulated carrier communication signal to the bus. At this time, the PB620 master module can extract the corresponding carrier communication signal from the bus, demodulate it, and transmit it to the rotor power control device so that the rotor power control device can collect the temperature of the connector of each rotor.

[0140] To better implement the rotor power control method in the embodiments of this application, a rotor power control device is also provided in the embodiments of this application, such as... Figure 10 As shown, Figure 10 This is a schematic diagram of a functional module of the rotor power control system. Specifically, it includes:

[0141] Temperature acquisition module 1001 is used to acquire the temperature of the connectors of each rotor on the target UAV;

[0142] The parameter setting module 1002 is used to adjust the power parameters of each rotor according to the temperature of the connector of each rotor, so as to obtain the target power parameters corresponding to each rotor.

[0143] The rotor control module 1003 is used to control the operation of each rotor according to the target power parameters corresponding to each rotor.

[0144] In some embodiments of this application, the parameter setting module includes:

[0145] The maximum temperature determination module is used to compare the temperatures of the connectors corresponding to each rotor to obtain the maximum connector temperature and the first rotor corresponding to the maximum connector temperature.

[0146] The first comparison module is used to compare the maximum connector temperature with a preset first temperature threshold.

[0147] The first power parameter setting submodule is used to reduce the power parameters of the first rotor if the maximum connector temperature is higher than the first temperature threshold, so as to obtain the target power parameters corresponding to the first rotor.

[0148] The second power parameter setting module sets the target power parameters corresponding to the remaining rotors on the target UAV based on the target power parameters corresponding to the first rotor.

[0149] In some embodiments of this application, the aforementioned first power parameter setting sub-module includes:

[0150] The query unit is used to query a preset database to obtain the parameter adjustment coefficient corresponding to the maximum connector temperature;

[0151] The adjustment unit is used to reduce the power parameters of the first rotor according to the parameter adjustment coefficient, so as to obtain the target power parameters corresponding to the first rotor.

[0152] In some embodiments of this application, the second power parameter setting sub-module includes:

[0153] A positional relationship acquisition unit is used to acquire the relative positional relationship between the first rotor and other rotors on the target UAV besides the first rotor;

[0154] The rotor division unit is used to divide the rotors on the target UAV, excluding the first rotor, according to the relative positional relationship, to obtain symmetrical rotors and asymmetrical rotors;

[0155] A symmetrical rotor power setting unit is used to set the target power parameters corresponding to the first rotor to the target power parameters corresponding to the symmetrical rotor.

[0156] An asymmetric rotor power setting unit is used to set the target power parameters corresponding to the asymmetric rotor according to preset flight parameters and the target power parameters corresponding to the first rotor.

[0157] In some embodiments of this application, the parameter setting module further includes:

[0158] The second comparison module is used to compare the maximum connector temperature with a preset second temperature threshold; the second temperature threshold is greater than the first temperature threshold.

[0159] The forced landing command output module is used to output a forced landing command if the maximum connector temperature is higher than the second temperature threshold.

[0160] The forced landing control sub-module is used to control the target UAV to complete the forced landing operation according to the forced landing command.

[0161] In some embodiments of this application, the parameter setting module includes:

[0162] The third comparison module is used to compare the temperature of the connector of each rotor with a preset third temperature threshold.

[0163] The rotor determination module is used to set rotors whose connector temperature is higher than the third temperature threshold as second rotors.

[0164] The power parameter reduction module is used to reduce the power parameters of the second rotor to obtain the target power parameters corresponding to the second rotor.

[0165] In some embodiments of this application, the temperature acquisition module includes:

[0166] The carrier communication signal acquisition sub-module is used to acquire carrier communication signals on the preset power supply line of the target UAV;

[0167] The demodulation module is used to demodulate the carrier communication signal to obtain the temperature of the connectors of each rotor on the target UAV.

[0168] like Figure 11 As shown, Figure 11 This is a schematic diagram of the rotor power control device provided in the embodiments of this application.

[0169] The rotor power control device includes a memory, a processor, and a rotor power control program stored in the memory and executable on the processor. When the processor executes the rotor power control program, it implements the steps in the rotor power control method of any of the above embodiments.

[0170] Specifically, the rotor power control device may include components such as one or more processors 1101 with processing cores, one or more memory media 1102, a power supply 1103, and an input unit 1104. Those skilled in the art will understand that... Figure 11 The rotor power control device structure shown does not constitute a limitation on the rotor power control device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0171] The processor 1101 is the control center of the rotor power control device. It connects to various parts of the rotor power control device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 1102, and by calling data stored in the memory 1102, it performs various functions and processes data of the rotor power control device, thereby providing overall monitoring of the rotor power control device. Optionally, the processor 1101 may include one or more processing cores; preferably, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 1101.

[0172] The memory 1102 can be used to store software programs and modules. The processor 1101 executes various functional applications and data processing by running the software programs and modules stored in the memory 1102. The memory 1102 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the rotor power control device, etc. In addition, the memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1102 may also include a memory controller to provide the processor 1101 with access to the memory 1102.

[0173] The rotor power control device also includes a power supply 1103 that supplies power to various components. Preferably, the power supply 1103 can be logically connected to the processor 1101 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 1103 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0174] The rotor power control device may also include an input unit 1104, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0175] Although not shown, the rotor power control device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 1101 in the rotor power control device loads the executable files corresponding to the processes of one or more application programs into the memory 1102 according to the following instructions, and the processor 1101 runs the application programs stored in the memory 1102, thereby implementing the steps in any rotor power control method provided in the embodiments of the present invention.

[0176] Therefore, embodiments of the present invention provide a computer-readable storage medium storing a rotor power control program. When executed, the rotor power control program implements the steps of any rotor power control method provided in the embodiments of the present invention. Specifically, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc.

[0177] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0178] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0179] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0180] The rotor power control method provided in the embodiments of this application has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A rotor power control method, characterized in that, include: Obtain the temperature of the connectors for each rotor on the target drone; The power parameters of each rotor are adjusted according to the temperature of the connector of each rotor to obtain the target power parameters corresponding to each rotor. The operation of each rotor is controlled according to the target power parameters corresponding to each rotor.

2. The rotor power control method according to claim 1, characterized in that, The step of adjusting the power parameters of each rotor according to the temperature of the connector of each rotor to obtain the target power parameters corresponding to each rotor includes: The temperatures of the connectors corresponding to each rotor are compared to obtain the maximum connector temperature and the first rotor corresponding to the maximum connector temperature. The maximum connector temperature is compared with a preset first temperature threshold. If the maximum connector temperature is higher than the first temperature threshold, then reduce the power parameters of the first rotor to obtain the target power parameters corresponding to the first rotor. The target power parameters corresponding to the remaining rotors on the target UAV are set according to the target power parameters corresponding to the first rotor.

3. The rotor power control method according to claim 2, characterized in that, The process of reducing the power parameters of the first rotor to obtain the target power parameters corresponding to the first rotor includes: Query the preset database to obtain the parameter adjustment coefficient corresponding to the maximum connector temperature; The power parameters of the first rotor are reduced by adjusting the parameter coefficients to obtain the target power parameters corresponding to the first rotor.

4. The rotor power control method according to claim 2, characterized in that, The step of setting the target power parameters corresponding to the remaining rotors on the target UAV according to the target power parameters corresponding to the first rotor includes: Obtain the relative positional relationship between the first rotor and other rotors on the target UAV besides the first rotor; Based on the relative positional relationship, the rotors on the target UAV, excluding the first rotor, are divided into symmetrical rotors and asymmetrical rotors; Set the target power parameters corresponding to the first rotor to the target power parameters corresponding to the symmetrical rotor; The target power parameters corresponding to the asymmetric rotor are set according to the preset flight parameters and the target power parameters corresponding to the first rotor.

5. The rotor power control method according to claim 2, characterized in that, After comparing the temperatures of the connectors corresponding to each rotor to obtain the maximum connector temperature and the first rotor corresponding to the maximum connector temperature, the method further includes: The maximum connector temperature is compared with a preset second temperature threshold; the second temperature threshold is greater than the first temperature threshold. If the maximum connector temperature is higher than the second temperature threshold, a forced landing command is output. The target drone is controlled to complete the forced landing operation according to the forced landing command.

6. The rotor power control method according to claim 1, characterized in that, The step of adjusting the power parameters of each rotor according to the temperature of the connector of each rotor to obtain the target power parameters corresponding to each rotor includes: The temperature of the connector of each rotor is compared with a preset third temperature threshold. The rotor whose connector temperature is higher than the third temperature threshold is designated as the second rotor. By reducing the power parameters of the second rotor, the target power parameters corresponding to the second rotor are obtained.

7. The rotor power control method according to any one of claims 1 to 6, characterized in that, The process of obtaining the temperature of the connectors for each rotor on the target UAV includes: Collect carrier communication signals on the preset power supply line of the target UAV; The carrier communication signal is demodulated to obtain the temperature of the connectors of each rotor on the target UAV.

8. A rotor power control device, characterized in that, include: Temperature acquisition module, used to acquire the temperature of the connectors of each rotor on the target UAV; The parameter setting module is used to adjust the power parameters of each rotor according to the temperature of the connector of each rotor, so as to obtain the target power parameters corresponding to each rotor. The rotor control module is used to control the operation of each rotor according to the target power parameters corresponding to each rotor.

9. A drone, characterized in that, The UAV includes a power unit, multiple rotors connected to the power unit via multiple connectors, a processor, a memory, and a rotor power control program stored in the memory and executable on the processor. The processor executes the rotor power control program to implement the steps of the rotor power control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a rotor power control program, which is executed by a processor to implement the steps of the rotor power control method according to any one of claims 1 to 7.

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