A protection method, program product, and electronic device for a movable platform rotor

Abstract

The embodiment of the present application provides a protection method, program product, and electronic device for the rotor of a movable platform. The movable platform corresponds to a storage bin, and the storage bin is used to store the movable platform. The method includes: controlling the antifreeze device in the storage bin to perform antifreeze treatment on the movable platform; controlling the movable platform after antifreeze treatment to perform a preset task; and monitoring the icing condition of the rotor of the movable platform during the execution of the preset task. By performing icing protection before the task is executed and monitoring the icing condition during the task execution, the operation safety of the movable platform is provided from multiple aspects, and the occurrence of accidents caused by icing is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of movable platforms, and in particular to a protection method, a program product, and an electronic device for a movable platform rotor. Background Art

[0002] At present, mobile platforms such as unmanned aerial vehicles (UAVs), unmanned vehicles, and robots have been widely used in many fields. However, if the mobile platform performs tasks in cold and humid conditions, the safety of the operation cannot be guaranteed due to icing of the platform. Therefore, how to provide safety guarantees for the operation of mobile platforms is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a protection method, program product, and electronic device for the rotor of a movable platform, so as to achieve the technical effect of ensuring the safety of the operation of the movable platform.

[0004] A first aspect of an embodiment of the present application provides a method for protecting a rotor of a movable platform, wherein the movable platform has a corresponding storage bin, and the storage bin is used to store the movable platform; the method comprises:

[0005] Controlling the antifreeze device in the accommodating bin to perform antifreeze treatment on the movable platform;

[0006] Controlling the movable platform after antifreeze treatment to perform a preset task;

[0007] During the execution of the preset mission, the icing condition of the rotor of the movable platform is monitored.

[0008] In the above implementation process, before the movable platform performs the preset task, the movable platform is firstly anti-freezing treated, and then the preset task is performed. During the task execution, the icing condition of the movable platform rotor is monitored, so as to take corresponding safety measures. By performing icing defense before the task execution and monitoring the icing condition during the task execution, the operation safety of the movable platform is provided from multiple aspects, and the accidents caused by icing are reduced.

[0009] Furthermore, before controlling the antifreeze device in the accommodating bin to perform antifreeze treatment on the movable platform, the method further includes:

[0010] Determining that environmental parameters of the environment in which the movable platform is located meet preset conditions;

[0011] The preset conditions include that the ambient humidity is greater than a humidity threshold and / or the ambient temperature is lower than a temperature threshold.

[0012] In the above implementation process, the environmental parameters of the environment in which the movable platform is located are used to evaluate the icing risk of the movable platform. When it is determined that the environment in which the movable platform is located satisfies the condition that the ambient humidity is greater than the humidity threshold and / or the ambient temperature is lower than the temperature threshold, targeted antifreeze treatment and icing monitoring are carried out on the movable platform, thereby achieving accurate safety protection for the movable platform.

[0013] Further, the monitoring of the icing condition of the movable platform rotor includes:

[0014] Determining a monitoring frequency according to environmental parameters of the environment in which the movable platform is located;

[0015] The icing condition of the movable platform rotor is monitored based on the monitoring frequency.

[0016] In the above implementation process, the environmental parameters of the movable platform are used to adaptively adjust the monitoring frequency. For environments that are likely to cause rotor icing, the monitoring frequency is increased to detect icing in time; for environments that are not likely to cause rotor icing, the monitoring frequency is reduced to save unnecessary resource overhead, thereby achieving accurate safety protection for the movable platform.

[0017] Further, the antifreeze device includes a coating device; the coating device stores antifreeze material; the antifreeze device in the accommodating bin is controlled to perform antifreeze treatment on the movable platform, including:

[0018] The coating device is controlled to coat the antifreeze material onto the rotor of the movable platform.

[0019] In the above implementation process, the rotor of the movable platform is antifreeze treated by coating with antifreeze material, which can prevent the rotor from freezing in a low temperature and high humidity environment to a certain extent, thereby ensuring the operation safety of the movable platform.

[0020] Furthermore, the movable platform is equipped with a motor, and the motor is used to drive the rotor; the monitoring of the icing condition of the rotor of the movable platform includes:

[0021] Determining the real-time torque of the rotor based on the input current and no-load parameter of the motor; wherein the no-load parameter is used to indicate the state of the motor when it is running at no-load;

[0022] Determine a real-time torque coefficient of the rotor based on the size parameters of the rotor, the real-time torque, and the real-time rotation speed of the motor;

[0023] Whether the rotor is iced is monitored based on the real-time torque coefficient and the un-icing torque coefficient.

[0024] In the above implementation process, the torque coefficient of the rotor will be affected by whether the rotor is iced. Therefore, by comparing the monitored real-time torque coefficient with the un-iced torque coefficient, it is possible to monitor in real time whether the rotor is iced, so that corresponding measures can be taken in time to reduce the safety hazards of the movable platform operating in the rotor ice state.

[0025] Furthermore, the method further comprises:

[0026] If it is determined that the rotor of the movable platform is iced, a warning message is generated.

[0027] In the above implementation process, the icing condition of the rotor is monitored and corresponding alarm information is generated, thereby reducing the safety hazard of the movable platform operating in an icing state.

[0028] Furthermore, the method further comprises:

[0029] According to the icing condition of the rotor, the movable platform is controlled to return to the accommodating compartment.

[0030] In the above implementation process, by monitoring the icing condition of the rotor, the movable platform is controlled to return to the storage compartment during the execution of the preset task, which greatly improves and ensures the operation safety of the movable platform.

[0031] Furthermore, the movable platform includes a rotary-wing UAV; and the storage compartment includes a hangar for storing the UAV.

[0032] In the above implementation process, by taking anti-icing measures before the rotor UAV performs a mission and monitoring the icing condition of the rotor in the rotor UAV, the operational safety of the rotor UAV is greatly improved and guaranteed.

[0033] A second aspect of an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, any method described in the first aspect is implemented.

[0034] According to a third aspect of the present application, an electronic device is provided, the electronic device comprising:

[0035] processor;

[0036] a memory for storing processor-executable instructions;

[0037] Wherein, when the processor calls the executable instruction, it implements the operation of any method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic flow chart of a method for protecting a movable platform rotor provided in an embodiment of the present application;

[0040] Figure 2-Figure 4 A schematic flow chart of another method for protecting a movable platform rotor provided in an embodiment of the present application;

[0041] Figure 5 A three-dimensional schematic diagram of a hangar of a rotary-wing UAV provided in an embodiment of the present application;

[0042] Figure 6 A schematic architecture diagram of a mobile platform provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of a flow chart of a rotor icing monitoring method provided in an embodiment of the present application;

[0044] Figure 8 A hardware structure diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0046] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0047] A mobile platform refers to any device that can move, including but not limited to land vehicles, water vehicles, air vehicles, and other types of motor vehicles. As an example, a mobile platform can be a drone, an unmanned vehicle, a robot, etc. Mobile platforms have been widely used in many fields.

[0048] Mobile platforms are involved in operations in different environments. When mobile platforms are operating in cold and humid environments, the safety of the operation may not be guaranteed due to icing of the platform. Taking a flying platform equipped with a rotor as an example, the windward side and tail of the rotor blades are prone to ice, which will affect the performance of the power system of the flying platform, expose the flying platform to safety hazards, and even cause a bombing accident in serious cases.

[0049] Continuing with the example of the flying platform, in order to ensure the operational safety of the movable platform, in the relevant technology, the flying platform will be directly refused to take off when facing cold and humid weather. In addition, for large helicopters, a heating device can be added to the helicopter's blades to improve the blade icing situation. However, the heating device is not suitable for small and medium-sized drones, such as multi-rotor drones. Therefore, how to provide safety protection for movable platforms, such as small and medium-sized drones, during operation is a technical problem that needs to be solved urgently in this field.

[0050] To this end, the present application provides a method for protecting the rotor of a movable platform. The movable platform includes a rotor, and the rotor can be used to control the movement of the movable platform. Taking a drone as an example, the drone can control the movement of the drone through the rotor, including moving forward, stopping, turning, ascending, landing, etc.

[0051] In addition, the movable platform corresponds to a storage bin. The storage bin is used to store the movable platform. The movable platform and the storage bin can have a one-to-one correspondence, that is, each movable platform corresponds to one storage bin; it can also be a one-to-many relationship, that is, one movable platform corresponds to multiple storage bins; it can also be a many-to-one relationship, that is, multiple movable platforms correspond to one storage bin. This application does not limit the quantitative relationship between the movable platform and the storage bin.

[0052] The storage compartment can be equipped with various components for use with the movable platform, such as, but not limited to, antifreeze devices, battery replacement devices, compartment changing devices, signal lights, etc.

[0053] In some embodiments, the movable platform may be a drone, such as a multi-rotor drone; and the storage compartment may be a hangar of the drone.

[0054] Figure 1 A flow chart of a protection method for a movable platform rotor provided by the present application is shown, including steps 110 to 130. The method can be executed by a control center. The control center is used to control the movable platform and the storage bin. Optionally, the control center is an independent device independent of the movable platform and the storage bin, such as a central control console. Optionally, the control center can be integrated in the storage bin.

[0055] Step 110: Control the antifreeze device in the accommodating bin to perform antifreeze treatment on the movable platform.

[0056] In this embodiment, the storage compartment is equipped with an antifreeze device, which is used to perform antifreeze treatment on the movable platform. The entire movable platform can be antifreeze treated, or only the components of the movable platform related to operation safety can be antifreeze treated.

[0057] As an example, step 110 may include: before executing a preset task, controlling an antifreeze device to perform an antifreeze treatment on the movable platform.

[0058] As an example, step 110 may include: in response to a task execution instruction, controlling the antifreeze device to perform antifreeze treatment on the movable platform, wherein the task execution instruction is used to instruct the movable platform to execute a preset task.

[0059] That is, when the movable platform receives the task execution instruction, it will not immediately execute the indicated preset task, but the accommodating compartment will first perform antifreeze treatment on the movable platform.

[0060] Step 120: Control the movable platform after antifreeze treatment to perform a preset task.

[0061] After the antifreeze treatment is completed, the movable platform can perform the preset tasks.

[0062] Optionally, the movable platform can perform a preset task along a preset route. Taking a drone as an example, the preset route is, for example, a preset flight path; the preset task may include, but is not limited to, a cruising task, a watering task, a delivery task, and the like.

[0063] Step 130: During the execution of the preset task, monitor the icing condition of the movable platform rotor.

[0064] During the process of the movable platform performing the preset task, the icing condition of the rotor can be periodically monitored. The monitoring period can be set by the technician according to actual needs, and the icing monitoring method can refer to the relevant technology, which is not limited in this application.

[0065] It can be seen that in this embodiment, before the movable platform performs the preset task, the movable platform is firstly subjected to antifreeze treatment, and then the preset task is performed. During the task execution, the icing condition of the rotor is monitored, so that corresponding safety measures can be taken. By performing icing defense before the task execution and monitoring the icing condition during the task execution, the movable platform is provided with operational safety protection from multiple aspects, and the occurrence of accidents caused by icing is reduced.

[0066] The following is a detailed description of steps 110 to 130.

[0067] In some embodiments, the protection method of a movable platform rotor may include: Figure 2 Steps 200-230 are shown.

[0068] Step 200: Determine whether the environmental parameters of the environment in which the movable platform is located meet the preset conditions;

[0069] Wherein, the preset conditions include that the ambient humidity is greater than a humidity threshold and / or the ambient temperature is lower than a temperature threshold;

[0070] Step 210: controlling the antifreeze device in the accommodating bin to perform antifreeze treatment on the movable platform;

[0071] Step 220: Control the movable platform after antifreeze treatment to perform a preset task;

[0072] Step 230: During the execution of the preset mission, monitor the icing condition of the movable platform rotor.

[0073] The specific implementation of step 210 to step 230 may refer to step 110 to step 130, which will not be described in detail. In this embodiment, before executing step 210, it is first determined whether the environmental parameters of the environment where the movable platform is located meet the preset conditions.

[0074] As an example, the environmental parameter includes environmental humidity, and the preset condition includes that the environmental humidity is greater than a preset humidity threshold. When the environmental parameter meets the preset condition, it indicates that the movable platform is in a high humidity environment.

[0075] As an example, the environmental parameter includes the ambient temperature, and the preset condition includes that the ambient temperature is lower than a preset temperature threshold. When the environmental parameter meets the preset condition, it indicates that the movable platform is in a low temperature cold environment.

[0076] As an example, the environmental parameters include environmental humidity and environmental temperature, and the preset conditions include that the environmental humidity is greater than a preset humidity threshold, and the environmental temperature is lower than a preset temperature threshold. When the environmental parameters meet the preset conditions, it indicates that the movable platform is in a high humidity and low temperature environment.

[0077] That is, in this embodiment, when the environmental parameters of the environment in which the movable platform is located meet the preset conditions, the movable platform is subjected to antifreeze treatment, and the icing condition of the movable platform rotor is monitored during the execution of the preset task.

[0078] Optionally, when the environmental parameters do not meet the preset conditions, the movable platform may not be subjected to antifreeze treatment.

[0079] Of course, in order to flexibly respond to environmental changes, antifreeze treatment can be performed before each preset task is executed regardless of whether the environmental parameters meet the preset conditions.

[0080] In addition, the environmental parameters can be obtained through meteorological data collected by the meteorological center. Alternatively, a meteorological sensor can be installed outside the storage compartment, and the environmental parameters can be obtained through sensor data collected by the meteorological sensor. Alternatively, if the preset task is executed according to a preset route, and there are other movable platforms currently operating according to the preset route, and the other movable platforms are equipped with thermometers, then the ambient temperature in the environmental parameters can be obtained through the temperature data returned by the other movable platforms, so that the accurate ambient temperature of each location on the preset route can be obtained in real time.

[0081] As an example, the preset task is executed according to a preset route. The preset route includes multiple task points. The preset route can be carried in the task execution instruction. That is, the mobile platform arrives at multiple task points in sequence according to the preset route to perform the preset task. Considering that multiple task points may be far apart and the environments are quite different, the icing risks faced by the mobile platform when performing the preset task at different task points may be different, so the environmental parameters may include the environmental parameters of multiple task points. In this way, before executing the preset task, the mobile platform can first obtain the environmental parameters of multiple task points on the preset route.

[0082] Taking a drone as an example, the preset route is a preset route, and the mission point is a waypoint on the preset route. The environmental parameters include environmental parameters of multiple waypoints.

[0083] On the basis that the environmental parameters include environmental parameters of multiple task points, as an example, determining in step 200 that the environmental parameters of the environment in which the movable platform is located meets the preset conditions may specifically include: determining that the environmental parameters of a preset number of task points meet the preset conditions.

[0084] That is, in the preset route, if the environmental parameters of at least a preset number of mission points meet the preset conditions, the movable platform is subjected to antifreeze treatment, and the icing condition of the movable platform rotor is monitored during the execution of the preset mission. The preset number can be determined by the technicians according to the actual situation, for example, including but not limited to 1, 50%, etc.

[0085] As another example, the preset route includes multiple mission points, and each mission point carries a corresponding mission duration. Based on this, determining in step 200 that the environmental parameters of the environment in which the movable platform is located meet the preset conditions may specifically include:

[0086] Determine a target task point whose environmental parameters meet preset conditions from multiple task points;

[0087] According to the task duration corresponding to each target task point, it is determined whether the statistical duration exceeds a preset duration threshold.

[0088] For example, the statistical duration is the sum of the task durations corresponding to each target task point. The statistical duration indicates the icing risk of the movable platform rotor, so when the statistical duration exceeds the duration threshold, the movable platform is subjected to antifreeze treatment, and the icing condition of the movable platform rotor is monitored during the execution of the preset task. The duration threshold can be set by the technician according to actual needs.

[0089] Taking the cruise mission of a drone as an example, in some scenarios, after the drone reaches each waypoint, it may hover for different lengths of time at different waypoints. If the weather conditions between different waypoints vary greatly, the risk of icing faced by the drone is related to the weather conditions of the waypoint and the mission duration of the drone at the waypoint. For example, if the ambient temperature at waypoint A is lower and the ambient humidity is higher than that at waypoint B, but if the stay time at waypoint A is shorter, the drone may not necessarily freeze at waypoint A. Therefore, in order to more accurately assess the icing risk of the drone, the target waypoint whose environmental parameters meet the preset conditions can be determined from multiple waypoints on the route, and then the mission duration of the target waypoint can be counted to obtain the statistical duration. The statistical duration is compared with the duration threshold to consider the icing risk of the drone when performing this mission, and then decide whether to take safety measures such as antifreeze treatment before takeoff and icing monitoring during cruising.

[0090] It can be seen that in this embodiment, the environmental parameters of the environment in which the movable platform is located are used to evaluate the icing risk of the movable platform rotor. When it is determined that the environment in which the movable platform is located satisfies the condition that the ambient humidity is greater than the humidity threshold and / or the ambient temperature is lower than the temperature threshold, antifreeze treatment and icing monitoring are carried out on the movable platform in a targeted manner, thereby achieving accurate safety protection for the movable platform.

[0091] Based on any of the above embodiments, the monitoring process of the icing condition of the movable platform rotor in step 130 and step 230 may specifically include the following steps: Figure 3 Steps 310 to 320 are shown.

[0092] Step 310: Determine a monitoring frequency according to environmental parameters of the environment in which the movable platform is located;

[0093] Step 320: Monitor the icing condition of the movable platform rotor based on the monitoring frequency.

[0094] Exemplarily, the environmental parameters may include but are not limited to environmental humidity and environmental temperature, etc. Among them, the environmental humidity is positively correlated with the monitoring frequency; and the environmental temperature is negatively correlated with the monitoring frequency.

[0095] As an example, before executing step 310, step 200 may be executed first, that is, determining whether the environmental parameters meet the preset conditions. That is, when the environmental parameters meet the preset conditions, the monitoring frequency is determined according to the environmental parameters, and the icing condition of the movable platform rotor is monitored based on the monitoring frequency during the process of the movable platform performing the preset task. When the environmental parameters do not meet the preset conditions, there is no need to monitor the icing condition of the movable platform rotor, that is, the monitoring frequency is set to 0.

[0096] As an example, the environmental parameters include environmental parameters of multiple mission points, and steps 310-320 may specifically include: for each mission point in the preset route, determining the monitoring frequency corresponding to the mission point according to the environmental parameters of the mission point; and monitoring the icing condition of the rotor when the movable platform arrives at the mission point based on the monitoring frequency.

[0097] In this way, the monitoring frequencies corresponding to different mission points of the mobile platform may be the same or different.

[0098] Optionally, when it is determined that the environmental parameters of a preset number of mission points meet the preset conditions, the monitoring frequency can be determined based on the environmental parameters of the mission points. If the environmental parameters of less than the preset number of mission points meet the preset conditions, the icing condition of the movable platform rotor may not be monitored.

[0099] Optionally, the target task points whose environmental parameters meet the preset conditions may be determined first, and then after determining that the statistical duration exceeds a preset duration threshold according to the task duration corresponding to each target task point, the monitoring frequency may be determined based on the environmental parameters of the task point. If the statistical duration does not exceed the duration threshold, the icing condition of the movable platform rotor may not be monitored.

[0100] It can be seen that in this embodiment, the monitoring frequency is adaptively adjusted using the environmental parameters of the movable platform. For environments that are likely to cause icing of the movable platform rotors, the monitoring frequency is increased to promptly detect icing conditions; for environments that are not likely to cause icing of the movable platform rotors, the monitoring frequency is reduced to save unnecessary resource overhead, thereby achieving accurate safety protection for the movable platform.

[0101] Based on any of the above embodiments, the antifreeze device carried in the storage compartment includes a coating device, and the coating device stores antifreeze material.

[0102] Exemplarily, the antifreeze material may include antifreeze liquid. The specific composition of the antifreeze liquid may refer to the relevant technology, and this embodiment does not limit this.

[0103] Based on this, a security method for a mobile platform provided in this embodiment may include the following steps: Figure 4Steps 410 - 430 are shown.

[0104] Step 410: Controlling the coating device in the storage bin to coat the rotor of the movable platform with antifreeze material;

[0105] Step 420: Control the antifreeze-treated movable platform to perform a preset task;

[0106] Step 430: During the execution of the preset mission, monitor whether the rotor of the movable platform is iced.

[0107] Exemplarily, the coating includes one or more of dipping, spraying, and spin coating. The coating device includes a spray head, and the antifreeze material can be coated on the surface of the movable platform by one or more of dipping, spraying, and spin coating.

[0108] For example, the coating device may be controlled to perform coating within the rotor range of the movable platform to avoid affecting other parts of the movable platform.

[0109] Taking the rotary wing drone as an example, Figure 5 The 3D structure diagram of a hangar 500 of a rotary wing UAV is shown. The hangar 500 includes a platform 510, a connecting component 520, and a coating device 530.

[0110] The platform 510 is used to carry the rotary wing UAV. For example, when the rotary wing UAV lands, it can land on the platform 510. The rotary wing UAV includes a plurality of rotors. The plurality of rotors can be arranged along the circumference of the platform 510. The number of the rotors includes four.

[0111] The connecting component 520 is used to connect the coating device 530 and the hangar 500. The coating device 530 is arranged on the connecting component 520 and is relatively rotatably arranged with the platform 510. The connecting component 520 may include but is not limited to a crossbar, a side plate, and the like. Figure 5 The connecting member 520 is shown as a side plate as an example. The side plate is arranged around the platform 510. The side plate includes an inner wall and an outer wall. The coating device 530 is arranged on the inner wall of the side plate and is arranged to rotate relative to the platform 510.

[0112] The coating device 530 includes a discharge port 531, a pipeline 532, and a storage bin 533. The storage bin 533 stores antifreeze material. The antifreeze material is sprayed from the discharge port 531 to the multiple rotors of the rotor drone through the pipeline 532. The discharge port 531 is, for example, a nozzle.

[0113] In addition, the number of coating devices matches the number of rotors, for example, the number is equal. And multiple coating devices are arranged corresponding to the rotors. In this way, each coating device can be controlled to coat the corresponding rotor with antifreeze material. For example, when it is determined that the rotor is located at the target position corresponding to the coating device, multiple coating devices are controlled to spray the antifreeze material onto the rotor.

[0114] The spraying range of the coating device matches the rotor range, for example, the spraying range is greater than or equal to the rotor range, so that the antifreeze material can be coated on the entire surface of the rotor during spraying.

[0115] Optionally, there may be a one-to-many relationship between the coating device and the rotors, that is, one coating device is provided to coat the antifreeze material on a plurality of rotors.

[0116] In addition, the hangar 500 may further include a base, on which the platform 510 is rotatably disposed, so that the platform 510 can rotate. Exemplarily, the rotation axis of the platform 510 may pass through the geometric symmetry center of the platform 510. For example, if the cross section of the platform 510 is circular, the rotation axis is perpendicular to the circular cross section of the platform 510 and passes through the center of the circle. In this way, the rotation of the platform 510 around the rotation axis may also be referred to as spinning.

[0117] In this way, the coating device 530 and the platform 510 are arranged to rotate relative to each other, for example, the platform 510 may rotate on the base, so that the platform 510 rotates relative to the coating device 530. At the same time, since the platform 510 carries a rotor drone, the platform 510 can drive the rotor drone to rotate relative to the coating device 530.

[0118] Based on this, in the above step 410, controlling the coating device in the accommodating chamber to coat the rotor of the movable platform with the antifreeze material may specifically include:

[0119] Step 411: Control the platform to rotate on the base so that the rotor drone carried by the platform rotates relative to the coating device;

[0120] Step 412: Control the coating device to spray antifreeze material onto the rotor.

[0121] Optionally, step 412 may specifically include: while controlling the platform to rotate on the base, controlling the coating device to spray the antifreeze material.

[0122] For example, the platform 510 can be controlled to rotate on the base at a first angular velocity, and the coating device 530 can be controlled to continuously spray the antifreeze material while rotating. In this way, the plurality of rotors arranged along the circumference will be covered with the antifreeze material as the platform 510 rotates, thereby completing the anti-icing protection measure.

[0123] Optionally, step 412 may specifically include: during the process of the platform rotating on the base, when the rotor faces the coating device, controlling the coating device to spray the antifreeze material.

[0124] Regarding how to determine whether the rotor is facing the coating device 530 , as an example, the platform 510 may include one or more limit assemblies. When the platform 510 is rotating, if the limit position is reached, it means that the rotor is facing the coating device 530 .

[0125] Optionally, when the platform 510 reaches the limit position, it can stop rotating and wait for the coating device 530 to spray the antifreeze material.

[0126] For example, if the number of coating devices 530 is less than the number of rotors, the limit positions include multiple ones, and each limit position corresponds to one or more rotors. The platform 510 reaches one of the limit positions and stops rotating to wait for the coating device 530 to spray the antifreeze material on the rotor corresponding to the current limit position. When the coating device 530 completes the spraying, the platform 510 can continue to rotate to the next limit position to spray the next rotor.

[0127] For another example, if the number of coating devices 530 is equal to the number of rotors, the limit position includes one. The platform 510 reaches the limit position and stops rotating to wait for the coating device 530 to spray the antifreeze material. When the coating device 530 completes the spraying, it is determined that all rotors have completed the spraying.

[0128] For example, the number of spraying times required for all rotors to complete the spraying can be determined based on the quantitative relationship between the coating device 530 and the rotors, and the number of spraying times can be used as a preset number. The preset number is at least 1 time. After the preset number of spraying is completed, it is determined that the rotor drone has completed the anti-icing protection measures. Subsequently, the rotor drone can be instructed to perform a preset task.

[0129] As another example of how to determine whether the rotor is facing the coating device 530, the hangar 500 may also be equipped with a sensor, which may include an image acquisition device, a photoelectric sensor, and the like.

[0130] Taking the image acquisition device as an example, regarding the setting position of the image acquisition device, optionally, the image acquisition device is less than a preset distance from the coating device 530. The image acquisition device can be set on the connecting component 520, or it can be set at other positions. It is only necessary that the distance between its setting position and the coating device 530 is less than a preset distance. Since the image acquisition device is set near the coating device 530, when the platform 510 rotates, the image acquisition device can capture a first image including the rotor drone. Then, it can be determined whether the rotor is facing the coating device 530 based on the first image.

[0131] For example, image recognition technology may be used to identify whether the image content of the first image includes a rotor. If so, it is determined that the rotor is facing the coating device 530. If not, it is determined that the rotor is not facing the coating device 530.

[0132] For another example, the rotor surface may include a first preset mark. The first preset mark may include, but is not limited to, a color mark, a pattern mark, a barcode mark, or a text mark, etc. The first preset mark may be a two-dimensional plane mark or a three-dimensional solid mark. In this way, image recognition technology may be used to determine whether the image content of the first image includes the first preset mark. If it does, it is determined that the rotor is facing the coating device 530. If it does not, it is determined that the rotor is not facing the coating device 530.

[0133] Regarding the location of the image acquisition device, optionally, the image acquisition device can be set on the platform 510, and the viewing direction of the image acquisition device is consistent with the extension direction of the arm where the rotor is located. The number of image acquisition devices can match the number of rotors. And the distance between the image acquisition device and the rotor is less than a preset distance. When the platform 510 rotates, the image acquisition device can capture a second image. Then, it can be determined based on the second image whether the rotor is facing the coating device 530.

[0134] For example, image recognition technology may be used to determine whether the image content of the second image includes the coating device 530. If so, it is determined that the rotor is facing the coating device 530. If not, it is determined that the rotor is not facing the coating device 530.

[0135] For another example, the surface of the coating device 530 or the surface of the connecting component 520 may include a second preset mark. The second preset mark may include, but is not limited to, a color mark, a pattern mark, a barcode mark, or a text mark, etc. The second preset mark may be a two-dimensional plane mark or a three-dimensional stereo mark. Image recognition technology may be used to determine whether the image content of the second image includes the second preset mark. If included, it is determined that the rotor is facing the coating device 530. If not included, it is determined that the rotor is not facing the coating device 530.

[0136] In addition, the image acquisition device may be an image acquisition device carried by the rotary-wing UAV, such as a main camera, a binocular camera, a monocular camera, etc. In this way, the image acquisition device carried by the rotary-wing UAV itself may be used to acquire the second image, and based on the second image, it may be determined whether the rotor is facing the coating device 530.

[0137] In addition, optionally, when it is determined based on the first image and / or the second image that the rotor is facing the coating device 530, the platform 510 can stop rotating and wait for the coating device 530 to spray the antifreeze material. After the spraying is completed, it can be determined based on the quantitative relationship between the coating device 530 and the rotor whether the platform 510 needs to continue rotating to continue spraying the next rotor, or to determine that all rotors have completed spraying. The specific judgment process is as described above and will not be repeated here.

[0138] Optionally, before determining that the rotor is facing the coating device 530, the platform 510 may rotate at a second angular velocity. After determining that the rotor is facing the coating device 530 based on the first image and / or the second image, the platform 510 may rotate at a third angular velocity. The third angular velocity is less than the second angular velocity, so that the platform 510 can quickly reach a suitable position for spraying, and rotate at a lower speed during the spraying process to ensure uniform spraying.

[0139] In addition, the connecting part 520 is also provided with a sliding part. The sliding part is arranged around the platform 510. The coating device 530 is movably arranged on the sliding part. In this way, when the coating device 530 slides along the sliding part, the coating device 530 rotates relative to the platform 510, so that the antifreeze material can be sprayed on a plurality of rotors arranged circumferentially along the platform 510.

[0140] Based on this, in the above step 410, controlling the coating device in the accommodating chamber to coat the rotor of the movable platform with the antifreeze material may specifically include:

[0141] Step 413: Control the coating device to slide on the sliding component so that the coating device rotates relative to the drone carried by the platform.

[0142] Step 414: Control the coating device to spray antifreeze material onto the rotor.

[0143] Optionally, step 412 may specifically include: while controlling the coating device to slide on the sliding component, controlling the coating device to spray the antifreeze material onto the rotor.

[0144] That is, the coating device 530 is controlled to spray the antifreeze material while sliding.

[0145] Optionally, the coating device 530 can be controlled to slide on the sliding component at a fourth angular velocity, and the coating device 530 can be controlled to continuously spray the antifreeze material while sliding. In this way, the plurality of wings arranged along the circumferential direction will be covered with the antifreeze material as the coating device 530 slides and sprays, thereby completing the anti-icing protection measure.

[0146] Optionally, step 412 may specifically include: in the process of controlling the coating device to slide on the sliding component, when the rotor faces the coating device, controlling the coating device to spray the antifreeze material onto the rotor.

[0147] The process of how to determine the direction of the rotor toward the coating device 530 can be specifically referred to above and will not be described in detail here.

[0148] In addition, while the coating device is spraying antifreeze material onto the rotor, the rotation of the rotor can also be controlled.

[0149] As an example, while the coating device 530 and the platform 510 are rotating relative to each other, the coating device 530 is controlled to spray the antifreeze material and the rotor is controlled to rotate. That is, relative rotation, spraying, and rotor rotation are performed simultaneously.

[0150] As an example, the coating device 530 includes a plurality of coating devices 530, and the plurality of coating devices 530 are arranged corresponding to the plurality of rotors. When it is determined that the rotor is located at the target position corresponding to the coating device 530, the plurality of coating devices 530 are controlled to spray the antifreeze material, and the rotor is controlled to rotate.

[0151] As an example, during the relative rotation between the coating device 530 and the platform 510, when the rotor faces the coating device 530, the coating device 530 is controlled to spray the antifreeze material, and the rotor is controlled to rotate at the same time.

[0152] As an example, the rotor is controlled to rotate while the coating device 530 and the platform 510 are relatively rotating. When the rotor is facing the coating device 530, the coating device 530 is controlled to spray the antifreeze material.

[0153] In addition, before controlling the coating device 530 to spray the antifreeze material, the rotor can be controlled to rotate at a first speed so that the rotor changes from a folded state to an unfolded state. After determining that the rotor is in the unfolded state, the rotor is controlled to rotate at a second speed. The first speed is greater than the second speed. For example, the first speed may be 5 revolutions per second, 10 revolutions per second, etc. The second speed may be half a revolution per second.

[0154] Since the first rotation speed is relatively high, when rotating at a relatively high rotation speed, the folded rotor can be "swung away" and changed from a folded state to an unfolded state. Specifically, a limit member can be provided on the rotor, and when it is detected that the limit member is triggered, the rotor is determined to be in an unfolded state. Subsequently, the rotation speed of the rotor is reduced to the second rotation speed. Rotating at a relatively slow rotation speed is conducive to uniform coating of the antifreeze material on the surface of the rotor.

[0155] In addition, the coating device 530 includes a first discharge port and / or a second discharge port. When the platform 510 carries a drone, the discharge direction of the first discharge port is toward the first surface of the wing; the discharge direction of the second discharge port is toward the second surface of the wing.

[0156] For example, the first discharge port is higher than the platform 510, at a first height from the platform 510, and the discharge direction is toward the first surface of the wing; the second discharge port is higher than the platform 510, at a third height from the platform 510, and the discharge direction is toward the second surface of the wing; the rotor is at a second height from the platform 510, and the first height is greater than the second height, and the second height is greater than the third height. In this way, the antifreeze material sprayed from the first discharge port will be coated on the upper surface of the rotor; the antifreeze material sprayed from the second discharge port will be coated on the lower surface of the rotor.

[0157] Optionally, there may be a plurality of first discharge ports, and the plurality of first discharge ports may be arranged along the radial direction and / or circumferential direction of the platform 510 .

[0158] Optionally, there may be a plurality of second discharge ports, and the plurality of second discharge ports may be arranged along the radial direction and / or circumferential direction of the platform 510 .

[0159] Optionally, the first discharge port and the second discharge port may be controlled to spray the antifreeze material simultaneously, so that the upper and lower surfaces of the rotor are coated with the antifreeze material.

[0160] Optionally, the first discharge port or the second discharge port can be controlled to spray the antifreeze material as needed, so that the upper surface or the lower surface of the rotor is coated with the antifreeze material.

[0161] In addition, the coating device includes multiple coating devices, and the multiple coating devices are arranged along the longitudinal direction of the platform 510. In this way, the technical effect of uniformly coating the antifreeze material on the entire surface of the wing can be achieved, further improving the anti-icing effect.

[0162] Optionally, in order to achieve uniform coating on both the upper and lower surfaces of the rotor, a coating device may be provided for each upper and lower surface of the rotor. For example, 2N coating devices may be provided for N rotors of the movable platform. For another example, two coating devices may be provided, and each rotor may be controlled to align with the two coating devices in turn by the rotation of the rotatable platform, so that the upper and lower surfaces of the N rotors are coated with antifreeze material.

[0163] For example, after the coating device completes the predefined coating action, it can be considered that all rotors have been coated with the antifreeze material. Of course, other methods can also be used to determine whether all rotors have been coated with the antifreeze material. For example, the weight difference of the movable platform before and after coating can be monitored to determine whether the coating is completed.

[0164] It can be seen that in this embodiment, by coating the rotor of the movable platform with antifreeze material, the rotor can be prevented from freezing in a low temperature and high humidity environment to a certain extent, thereby avoiding damage to the power system of the movable platform due to freezing, thereby ensuring the operation safety of the movable platform.

[0165] Figure 6 The schematic architecture diagram of the movable platform 600 is shown, and the movable platform 600 is equipped with a control system 610 and a power system 620 that are communicatively connected. Among them, the control system 610 includes a controller 611. Of course, the control system 610 can also include other components required for achieving control, such as a sensor system, etc. In a drone, the control system 610 is also called a flight control system. The controller 611 is also called a flight controller (referred to as flight control), which is responsible for the flight attitude control, navigation and stability of the drone.

[0166] The power system 620 may include an electronic speed regulator (referred to as an ESC) 621, a motor 622, and a rotor 623. The rotor 623 may include one or more. For example, in a drone, the rotor 623 may include four. The number of motors 622 is consistent with the number of rotors 623. The electronic speed regulator 621 may include one or more. For example, one electronic speed regulator 621 may correspond to one or more motors 622.

[0167] The electronic speed regulator 621 is used to receive the driving signal generated by the control system 610, and provide a driving current to the motor 622 according to the driving signal to control the rotation speed of the motor 622. The motor 622 is used to drive the rotor 623 to rotate, thereby providing power for the movement of the movable platform 600, and the power can enable the movable platform 600 to achieve one or more degrees of freedom.

[0168] Based on Figure 6 For the movable platform shown, the torque coefficient of the rotor is independent of the working state of the movable platform. That is, no matter what mode the movable platform is running in, whether it is moving at high speed or hovering, the torque coefficient of the rotor will not change and will be a constant. Moreover, the torque coefficient of the rotor is related to the shape and mass of the rotor. It can be seen that in daily operations, the shape of the rotor of the movable platform is basically unlikely to change, but the mass of the rotor will increase due to icing. That is, during the operation of the movable platform, the size of the torque coefficient of the rotor will only be affected by the mass of the rotor, and the mass of the rotor will change due to the icing of the rotor. Therefore, when the movable platform is running, by monitoring the torque coefficient of the rotor, it is possible to effectively and timely detect whether the rotor is frozen.

[0169] Thus, in some embodiments, monitoring whether the rotor of the movable platform is iced in step 430 may specifically include: Figure 7 Steps 710 - 730 are shown.

[0170] Step 710: Determine the real-time torque of the rotor based on the input current of the motor and a no-load parameter, wherein the no-load parameter is used to indicate the state of the motor when it is running at no-load.

[0171] Exemplarily, the electromagnetic torque Te of the motor may include two parts: no-load torque T0 and rotor torque M. Among them, the electromagnetic torque Te refers to the torque generated by the motor under the input current I1, and is in direct proportion to the input current I1. The no-load torque T0 refers to the torque corresponding to the no-load operation of the motor, which can be calculated by the no-load parameters of the motor. The no-load parameters are calibration parameters obtained when the motor leaves the factory. Therefore, based on the input current I1 of the motor and the no-load parameters of the motor, the real-time torque M of the rotor can be obtained. Among them, the real-time torque M is positively correlated with the input current I1 of the motor.

[0172] In some embodiments, based on the input power of the electronic speed regulator being equal to the output power, the input current of the motor can be calculated. Based on this, the above icing monitoring method can also include the steps of:

[0173] Based on the input voltage, input current, and output voltage of the electronic speed regulator, the output current of the electronic speed regulator is determined; the output current is the input current of the motor.

[0174] The electronic speed regulator has a data feedback function, so the electronic speed regulator can send its own input voltage U2, input current I2, and output voltage U1 to the controller. In this way, the relationship between the input current I1 of the motor and the input voltage U2, input current I2, and output voltage U1 can be expressed as:

[0175]

[0176] Regarding the no-load parameters in step 710, in some embodiments, the no-load parameters at least include: a nominal no-load voltage U0, a nominal no-load current I0, a motor internal resistance R, and a motor KV value.

[0177] The nominal no-load voltage U0 and the nominal no-load current I0 refer to the voltage and current values ​​of the motor when it is running at no-load, respectively. The motor KV value refers to the speed of the motor when it is running at no-load per volt, in revolutions per minute (RPM) per volt (V).

[0178] Based on this, the real-time torque M of the rotor, the input current I1 of the motor, and the no-load parameters satisfy the following relationship:

[0179]

[0180] In this way, when the input current I1 of the motor and the no-load parameters are known, the real-time torque M of the rotor can be obtained.

[0181] Step 720: Determine the real-time torque coefficient of the rotor based on the size parameters of the rotor, the real-time torque, and the real-time rotation speed of the motor and the air density.

[0182] Exemplarily, the dimension parameters include the diameter d of the rotor, which refers to the diameter of the circle drawn by the blade tip of the rotor when the rotor rotates. The dimension parameters of the rotor are calibration parameters obtained when the rotor or the movable platform leaves the factory.

[0183] Optionally, the real-time rotation speed N of the motor can be obtained by an electronic speed regulator electrically connected to the motor.

[0184] The real-time torque of the rotor is also affected by the air density. That is, the greater the air density, the greater the resistance of the air to the rotation of the rotor, and accordingly, the greater the real-time torque of the rotor.

[0185] In some scenarios, mobile platforms will operate in different atmospheric environments. For example, when a drone performs a mission at high altitude, the air density at high altitude is different from the air density on the ground. At this time, it is necessary to consider the impact of the environment on ice monitoring.

[0186] For example, when a drone is operating at high altitude, since the air density at high altitude is lower than the air density on the ground, when the rotor is also unfrozen, the monitoring value of the real-time torque of the rotor at high altitude will be lower than the monitoring value on the ground, which will lead to a decrease in the real-time torque coefficient of the rotor. At this time, even if the rotor of the drone freezes at high altitude, causing the real-time torque and real-time torque coefficient to increase, it may not be possible to detect the icing of the rotor by comparing it with the unfrozen torque coefficient. Therefore, it is necessary to correct the real-time torque coefficient of the rotor so that the corrected real-time torque coefficient is negatively correlated with the air density. That is, when the air density decreases, the corrected real-time torque coefficient increases, thereby compensating for the difference caused by the decrease in real-time torque due to the decrease in air density.

[0187] In some embodiments, environmental data can be used for correction, and the real-time torque coefficient of the rotor is obtained after correction by the environmental data. The environmental data is used to characterize the environment in which the movable platform is located. The environmental data at least includes: altitude and ambient temperature. The altitude h can be measured by a barometer on the movable platform; the ambient temperature t can be measured by a temperature sensor on the movable platform.

[0188] Exemplarily, the real-time torque coefficient C of the rotor is negatively correlated with the air density ρ. Specifically, the relationship between the real-time torque coefficient C and the real-time torque M, the air density ρ, the real-time rotation speed N, and the diameter d can be expressed as:

[0189] (Formula 1)

[0190] Among them, the air density ρ is a function of the altitude h and the ambient temperature t, which can be expressed as:

[0191] (Formula 2)

[0192] Among them, the unit of temperature t is degrees Celsius, and ρ0 is the standard atmospheric density.

[0193] In this way, after obtaining the size parameters of the rotor, the real-time torque, the real-time rotation speed of the motor and the environmental data, the real-time torque coefficient of the rotor can be determined based on the above formulas 1 and 2.

[0194] In some embodiments, the real-time torque coefficient may be obtained after filtering. Optionally, the filtering may be a first-order filtering. The specific processing of the first-order filtering may refer to the related art, which will not be expanded in this embodiment.

[0195] Step 730: Monitor whether the rotor is iced based on the real-time torque coefficient and the un-icing torque coefficient.

[0196] Exemplarily, the uniced torque coefficient can be obtained by calibration when the rotor is uniced. The calibration can be pre-calibrated or real-time calibrated. By comparing the real-time torque coefficient with the uniced torque coefficient, it can be determined whether the rotor of the movable platform is iced.

[0197] It can be seen that since the torque coefficient of the rotor will be affected by whether the rotor is iced during the operation of the movable platform, by comparing the monitored real-time torque coefficient with the un-iced torque coefficient, it is possible to monitor in real time whether the rotor is iced, so that corresponding measures can be taken in time to reduce the safety hazards of the movable platform operating in a rotor iced state.

[0198] In some embodiments, the calibration process of the un-icing torque coefficient may include the following steps:

[0199] When the rotor of the movable platform is not iced and the movable platform is in operation, the working torque of the rotor is determined based on the input current and no-load parameters of the motor; and the un-icing torque coefficient of the rotor is determined based on the size parameters of the rotor, the working torque, and the operating speed of the motor.

[0200] In some embodiments, step 730 monitors whether the rotor is iced based on the real-time torque coefficient and the un-iced torque coefficient, which may specifically include steps 731 to 733 .

[0201] Step 731: Obtain the ratio between the real-time torque coefficient and the un-icing torque coefficient.

[0202] Exemplarily, the ratio of the real-time torque coefficient C to the un-icing torque coefficient C0 may be determined as C / C0.

[0203] Step 732: If the ratio is greater than a preset ratio threshold, it is determined that the rotor is iced.

[0204] Exemplarily, the ratio threshold can be obtained through a rotor icing test. If the ratio C / C0 is greater than the ratio threshold, it means that the real-time torque coefficient of the rotor is large at this time, so it can be determined that the rotor is iced.

[0205] Step 733: If the ratio is less than or equal to the ratio threshold, determine that the rotor is not iced.

[0206] On the contrary, if the ratio C / C0 is less than or equal to the ratio threshold, it means that the real-time torque coefficient of the rotor is small at this time, so it can be determined that the rotor is not iced.

[0207] Of course, in addition to the above judgment method, it is also possible to judge whether the rotor is iced by comparing the difference between the real-time torque coefficient and the un-iced torque coefficient with a preset difference threshold.

[0208] In addition to Figure 7 In addition to using the above-mentioned embodiment to monitor whether the rotor of the movable platform is iced, other methods can be selected to monitor the icing condition of the rotor according to actual conditions. The present application is not limited to the use of the above-mentioned methods.

[0209] Based on any of the above embodiments, the protection method may further include the steps of:

[0210] If it is determined that the rotor of the movable platform is iced, a warning message is generated.

[0211] Optionally, if it is determined that the duration of icing exceeds a preset time threshold, a warning message of rotor icing is generated.

[0212] It can be seen that this embodiment reduces the safety hazard of the movable platform operating in an icing state by monitoring the icing condition of the movable platform rotor and generating corresponding alarm information.

[0213] Based on any of the above embodiments, the protection method may further include the steps of:

[0214] According to the icing condition of the rotor, the movable platform is controlled to return to the accommodating compartment.

[0215] Optionally, when the movable platform is frozen and an alarm message is generated, the movable platform can be controlled to return to the storage compartment based on the alarm message.

[0216] Optionally, when it is determined that the movable platform needs to return to the storage compartment based on the icing condition of the movable platform, the target storage compartment to return to can be determined based on the current power level of the movable platform.

[0217] For example, if the current power level is greater than or equal to a preset power threshold, it is determined that the target storage bin to be returned to is the storage bin where the movable platform was located before the operation.

[0218] For example, if the current power level is less than the power threshold, it is determined that the target storage bin to be returned is the storage bin closest to the current position of the movable platform.

[0219] It can be seen that in this embodiment, by monitoring the icing condition of the movable platform and controlling the movable platform to return to the storage bin during the execution of a preset task, the operational safety of the movable platform is greatly improved and guaranteed.

[0220] In addition, the present application also provides a method for protecting the rotor of a drone. The drone corresponds to a hangar, which is used to store the drone and provide services such as battery replacement, warehouse replacement, and cleaning for the drone. In addition, the hangar is also equipped with a spray device, which stores antifreeze, and the spray device includes a spray head. The specific implementation process of the protection method is as follows:

[0221] Obtain environmental parameters of the environment in which the drone is located, including ambient temperature and ambient humidity. The environmental parameters can be obtained through meteorological data and / or through meteorological sensors carried by the hangar.

[0222] Determine whether the environmental parameters meet the preset conditions, wherein the preset conditions include that the environmental humidity is greater than a humidity threshold and / or the environmental temperature is lower than a temperature threshold.

[0223] When it is determined that the environmental parameters meet the preset conditions, the spray device in the hangar is controlled to spray antifreeze to the UAV. Optionally, the spray device can be controlled to spray antifreeze to the four rotors of the UAV.

[0224] After the spraying device completes the predefined action, it can be determined that the rotor has completed the spraying. Then the drone is controlled to take off and perform the preset mission. During the mission execution, it can be monitored in real time whether the rotor is frozen. Optionally, the monitoring frequency can be determined according to environmental parameters.

[0225] As one of the rotor icing monitoring methods, the real-time torque M of the rotor can be calculated based on the input current I1 and the pre-stored no-load constant. The no-load constant includes a first no-load constant a and a second no-load constant b, and the no-load constant is determined based on the no-load parameters of the motor. The no-load parameters include the nominal no-load voltage U0, the nominal no-load current I0, the motor internal resistance R, and the motor KV value.

[0226] Subsequently, the current altitude h of the drone is determined based on the barometer carried by the drone, and the temperature t of the environment in which the drone is located is determined based on the temperature sensor carried by the drone.

[0227] The real-time torque coefficient C of the rotor is calculated based on the rotor diameter d, the real-time speed N of the motor fed back by the electronic speed regulator, the real-time torque M of the rotor, and the environmental parameters, and the real-time torque coefficient C of the rotor is first-order filtered. The environmental parameters include the altitude h and the temperature t. Specifically, the relationship between the real-time torque coefficient C of the rotor, the rotor diameter d, the real-time speed N of the motor, the real-time torque M of the rotor and the environmental parameters can be seen in Formulas 1 and 2 above.

[0228] After obtaining the real-time torque coefficient C after the first-order filtering, the ratio C / C0 between the real-time torque coefficient C and the un-iced torque coefficient C0 is determined. If the ratio C / C0 is greater than the ratio threshold, it is determined that the rotor of the UAV is iced; if the ratio C / C0 is less than or equal to the ratio threshold, it is determined that the rotor of the UAV is not iced.

[0229] When the rotor is confirmed to be iced, if the duration of the rotor icing exceeds a preset time threshold, a rotor icing warning message is generated to reduce the flight safety hazard of the UAV when the rotor is iced.

[0230] In addition, the drone is controlled to perform emergency return according to the warning information. Optionally, during the return process, if the current power of the drone is less than the power threshold, the drone is controlled to land in the hangar closest to it; if the current power is greater than or equal to the power threshold, the drone is controlled to return to the hangar corresponding to the takeoff time.

[0231] It can be seen that this embodiment takes icing prevention and control measures before the UAV takes off, reducing the risk of rotor icing. At the same time, the rotor icing situation is monitored during the flight, which greatly improves and ensures the safety of flight operations.

[0232] Based on the protection method of a movable platform rotor described in any of the above embodiments, the present application also provides a computer program product, which includes one or more computer programs or instructions. The computer program or instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. When the computer program is executed by a processor, the protection method of a movable platform rotor described in any of the above embodiments is implemented.

[0233] Based on a protection method for a movable platform rotor described in any of the above embodiments, the present application also provides: Figure 8 A schematic diagram of the structure of an electronic device is shown in FIG. Figure 7At the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement a movable platform rotor protection method described in any of the above embodiments.

[0234] The present application also provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, it can be used to execute a method for protecting a movable platform rotor as described in any of the above embodiments.

[0235] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0236] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0237] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0238] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0239] 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 changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0240] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for protecting a movable platform rotor, characterized in that: The movable platform is a rotary-wing UAV; the movable platform corresponds to a storage bin, the storage bin is a hangar for storing the rotary-wing UAV, the storage bin comprises a platform for carrying the movable platform, a connecting component, and a coating device storing antifreeze material, wherein a plurality of the rotors are arranged circumferentially along the platform; the coating device comprises a first discharge port, when the platform carries the movable platform, the discharge direction of the first discharge port is toward the upper surface of the rotor; and / or the coating device comprises a second discharge port, when the platform carries the movable platform, the discharge direction of the second discharge port is toward the lower surface of the rotor; the method comprises: Controlling the antifreeze device in the accommodating compartment to coat the antifreeze material on the rotor of the movable platform; Controlling the movable platform after antifreeze treatment to perform a preset task; During the execution of the preset mission, the icing condition of the rotor of the movable platform is monitored.

2. The method according to claim 1, characterized in that Before controlling the antifreeze device in the accommodating compartment to apply the antifreeze material to the rotor of the movable platform, the method further comprises: Determining that environmental parameters of the environment in which the movable platform is located meet preset conditions; The preset conditions include that the ambient humidity is greater than a humidity threshold and / or the ambient temperature is lower than a temperature threshold.

3. The method according to claim 1, characterized in that The monitoring of the icing condition of the movable platform rotor comprises: Determining a monitoring frequency according to environmental parameters of the environment in which the movable platform is located; The icing condition of the movable platform rotor is monitored based on the monitoring frequency.

4. The method according to claim 1, characterized in that: The movable platform is equipped with a motor, and the motor is used to drive the rotor; The monitoring of the icing condition of the movable platform rotor comprises: Determine the real-time torque M of the rotor based on the input current and no-load parameter of the motor; wherein the no-load parameter is used to indicate the state of the motor when it is running at no-load; The real-time torque coefficient C of the rotor is determined based on the diameter d of the rotor, the real-time torque M, the real-time speed N of the motor and the air density ρ, and specifically satisfies the following formula: ; Whether the rotor is iced is monitored based on the real-time torque coefficient and the un-icing torque coefficient.

5. The method according to claim 1, characterized in that The method further comprises: If it is determined that the rotor of the movable platform is iced, a warning message is generated.

6. The method according to claim 1, characterized in that The method further comprises: According to the icing condition of the rotor, the movable platform is controlled to return to the accommodating compartment.

7. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

8. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing processor-executable instructions; Wherein, when the processor calls the executable instruction, it implements the operation of any method described in claims 1-6.

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