Paddle protection cover detection method, device, equipment and medium

Abstract

The invention relates to the technical field of multi-rotor aircrafts, in particular to a blade protection cover detection method, device and equipment and a medium. The method comprises the steps that if it is determined that a multi-rotor aircraft is in a stable hovering state based on the detected moving speed, the detected accelerated speed and the detected angular speed; if yes, acquiring the detected climbing speed and the blade rotating speed of the multi-rotor aircraft; the nominal weight of the multi-rotor aircraft is obtained, and the theoretical climbing acceleration is obtained according to the blade rotating speed and the nominal weight; obtaining a theoretical climbing speed and a disturbance climbing acceleration according to the detected climbing speed and the theoretical climbing acceleration; and determining whether the model of the multi-rotor aircraft is matched with the model of a blade protection cover mounted on the multi-rotor aircraft according to the theoretical climbing speed and the disturbance climbing acceleration. According to the scheme, whether the model of the multi-rotor aircraft is matched with the model of the blade protection cover installed on the multi-rotor aircraft or not can be determined, an operator can be conveniently reminded to replace the unmatched blade protection cover in time, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of multi-rotor aircraft, in particular to a propeller guard detection method, device, equipment and medium. BACKGROUND

[0002] In recent years, multi-rotor aircrafts are widely used in many fields. The multi-rotor aircraft generally includes a plurality of motors, and the driving shaft of each motor is connected with the corresponding propeller. The electric control module on the multi-rotor aircraft responds to the corresponding control signal to drive the corresponding propeller to rotate through the motor, so that the multi-rotor aircraft completes the corresponding action or changes its own attitude. In order to avoid the propeller from being damaged or injuring the surrounding personnel due to direct collision with obstacles during the flight of the multi-rotor aircraft, a corresponding type of propeller guard can be installed on the multi-rotor aircraft to improve safety and reduce maintenance costs. Considering that the propeller guard is a consumable part, and in order to facilitate storage, the propeller guard is generally designed to be detachable, and the multi-rotor aircraft operator installs the propeller guard on the multi-rotor aircraft before using the multi-rotor aircraft.

[0003] However, some multi-rotor aircraft operators are prone to install a propeller guard of the wrong type on the multi-rotor aircraft before using the multi-rotor aircraft, that is, the type of the propeller guard does not match the type of the multi-rotor aircraft. Since different types of propeller guards have different effects on the moment of inertia of the multi-rotor aircraft, and different types of propeller guards also have different resistances to the thrust generated by the propeller. Therefore, when the type of the propeller guard does not match the type of the multi-rotor aircraft, if the multi-rotor aircraft still controls the motor to drive the propeller to rotate based on the control parameters in the design, the actual output thrust of the propeller does not match the required thrust of the current multi-rotor aircraft, which causes the multi-rotor aircraft to be unable to control the corresponding action or change its own attitude based on the control signal, and is prone to cause the multi-rotor aircraft to lose control and crash. SUMMARY

[0004] In order to solve the problems in the related art, the present disclosure provides a propeller guard detection method, device, equipment and medium.

[0005] In a first aspect, a propeller guard detection method is provided in the embodiments of the present disclosure, comprising: obtaining a detection moving speed, a detection acceleration and a detection angular velocity detected by the multi-rotor aircraft at a plurality of detection time points; if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speed, the detection acceleration and the detection angular velocity, obtaining a detection climb speed and a propeller rotating speed detected by the multi-rotor aircraft at a plurality of detection time points; acquire a nominal weight of the multicopter, and acquire theoretical climbing accelerations of the multicopter at the detection time instants according to the blade rotating speeds and the nominal weight; acquire theoretical climbing speeds and perturbed climbing accelerations of the multicopter at the detection time instants according to the detection climbing speeds and the theoretical climbing accelerations; determine whether the model of the multicopter and the model of the blade guard installed on the multicopter match according to the theoretical climbing speeds and the perturbed climbing accelerations.

[0006] In an embodiment of the present disclosure, if it is determined that the multicopter is in a stable hovering state based on the detection moving speeds, the detection accelerations and the detection angular speeds, detection climbing speeds and blade rotating speeds of the multicopter at the detection time instants are acquired, including: if the detection moving speeds of the multicopter at the detection time instants are all less than or equal to the moving speed average, the absolute values of the detection accelerations of the multicopter at the detection time instants are all less than or equal to the preset acceleration threshold, and the absolute values of the detection angular speeds of the multicopter at the detection time instants are all less than or equal to the preset first angular speed threshold, it is determined that the multicopter is in a stable hovering state, and the detection climbing speeds and the blade rotating speeds of the multicopter at the detection time instants are acquired; acquire theoretical climbing accelerations of the multicopter at the detection time instants according to the blade rotating speeds and the nominal weight, including: determine the highest blade rotating speed and the lowest blade rotating speed among the blade rotating speeds of the multicopter at the detection time instants; if the difference between the highest blade rotating speed and the lowest blade rotating speed is less than or equal to the blade rotating speed difference threshold, acquire the theoretical climbing accelerations of the multicopter at the detection time instants according to the blade rotating speeds and the nominal weight.

[0007] In an embodiment of the present disclosure, the multicopter takes off at a first detection time instant among the detection time instants; acquire theoretical climbing speeds and perturbed climbing accelerations of the multicopter at the detection time instants according to the detection climbing speeds and the theoretical climbing accelerations, including: the value of the theoretical climbing speed and the value of the perturbed climbing acceleration at the first detection time instant are both 0; based on acquire the value of the theoretical climbing speed at any detection time instant except the first detection time instant among the detection time instants , based on acquire the value of the perturbed climbing acceleration at any detection time instant , the value of the theoretical climbing speed at the previous detection time instant of any detection time instant, a value of a time difference between any two of the detection instants, a value of a detected climb speed at any detection instant, a value of a theoretical climb acceleration at any detection instant, a value of a disturbance climb acceleration at a previous detection instant of any detection instant, and all a preset theoretical speed parameter, wherein the units of the theoretical climb speed, the detected climb speed are the units of the disturbance climb acceleration, the theoretical climb acceleration are and the units of the time difference are .

[0008] In an embodiment of the present disclosure, determining whether a model of a multi-rotor aircraft matches a model of a propeller guard installed on the multi-rotor aircraft according to the theoretical climb speed and the disturbance climb acceleration comprises: if an absolute value of an average of differences between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at the detection instants is less than or equal to a preset climb speed difference threshold value, and an absolute value of an average of the disturbance climb accelerations of the multi-rotor aircraft at the detection instants is less than or equal to a preset disturbance climb acceleration threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft.

[0009] In an embodiment of the present disclosure, the method further comprises: obtaining theoretical propeller thrusts of the multi-rotor aircraft at the detection instants according to the propeller rotation speeds of the multi-rotor aircraft detected at the detection instants and the thrust coefficient of the propeller of the model matching the model of the multi-rotor aircraft; obtaining a theoretical weight of the multi-rotor aircraft according to the theoretical propeller thrusts of the multi-rotor aircraft at the detection instants; if an absolute value of an average of differences between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at the detection instants is less than or equal to a preset climb speed difference threshold value, and an absolute value of an average of the disturbance climb accelerations of the multi-rotor aircraft at the detection instants is less than or equal to a preset disturbance climb acceleration threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft, comprising: If the absolute value of the mean of the difference between the theoretical climb speed of the multi-rotor aircraft at the plurality of detection time instants and the detected climb speed is less than or equal to a preset climb speed difference threshold, the absolute value of the mean of the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft.

[0010] In an embodiment of the present disclosure, the method further comprises: obtaining the angular velocity detected by the multi-rotor aircraft at the plurality of detection time instants; obtaining the vibration amplitude of the multi-rotor aircraft in the frequency band of 5-20 Hz at the plurality of detection time instants according to the angular velocity detected by the multi-rotor aircraft at the plurality of detection time instants; obtaining the mean of the vibration amplitude and the standard deviation of the vibration amplitude; If the absolute value of the mean of the difference between the theoretical climb speed of the multi-rotor aircraft at the plurality of detection time instants and the detected climb speed is less than or equal to a preset climb speed difference threshold, the absolute value of the mean of the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft, comprising: If the absolute value of the mean of the difference between the theoretical climb speed of the multi-rotor aircraft at the plurality of detection time instants and the detected climb speed is less than or equal to a preset climb speed difference threshold, the absolute value of the mean of the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climb acceleration threshold, the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, the mean of the vibration amplitude belongs to a preset vibration amplitude mean interval, and the standard deviation of the vibration amplitude belongs to a preset vibration amplitude standard deviation interval, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft.

[0011] In an embodiment of the present disclosure, the method further comprises: If it is determined that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, outputting propeller guard installation error prompt information for prompting that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft.

[0012] In an embodiment of the present disclosure, determining whether the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft according to the theoretical climb speed and the perturbed climb acceleration comprises: sending the theoretical climb speed and the perturbed climb acceleration to a propeller guard detection end, wherein the propeller guard detection end is configured to acquire the model of the multi-rotor aircraft, determine a pre-trained propeller guard detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climb speed and the perturbed climb acceleration, input the theoretical climb speed and the perturbed climb acceleration into the propeller guard detection model, acquire a propeller guard detection result output by the propeller guard detection model, and send the propeller guard detection result; receiving the propeller guard detection result and determining whether the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft according to the propeller guard detection result.

[0013] In an embodiment of the present disclosure, the method further comprises: determining, according to the propeller guard detection result, whether the multi-rotor aircraft is subjected to external force drag at multiple detection times, or determining, according to the propeller guard detection result, whether the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to a preset wind speed threshold at the multiple detection times; if it is determined that the multi-rotor aircraft is subjected to external force drag at the multiple detection times, outputting prohibition drag prompt information for prompting prohibition of dragging the multi-rotor aircraft by external force; if it is determined that the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to the preset wind speed threshold at the multiple detection times, outputting prompt information for prompting that the wind speed of the current environmental wind affects the flight safety of the multi-rotor aircraft.

[0014] In an embodiment of the present disclosure, the method further comprises: if it is determined that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, acquiring a control instruction received by the multi-rotor aircraft; acquiring at least one of an expected pitch angle, an expected roll angle, an expected yaw angle, an expected angular velocity, an expected propeller rotating speed, an expected moving speed, and an expected position of the multi-rotor aircraft after executing the control instruction; If at least one of the following conditions is met: the expected pitch angle is greater than or equal to a preset pitch angle threshold, the expected roll angle is greater than or equal to a preset roll angle threshold, the expected yaw angle is greater than or equal to a preset yaw angle threshold, the expected angular velocity is greater than or equal to a preset second angular velocity threshold, the expected blade rotating speed is greater than or equal to a preset blade rotating speed threshold, the expected moving speed is greater than or equal to a preset moving speed threshold, and the distance between the expected position and the take-off position of the multi-rotor aircraft is greater than or equal to a preset distance threshold, the multi-rotor aircraft is controlled not to execute the control instruction, and prompt information prompting that the control instruction is not executed is displayed.

[0015] In a second aspect, a blade protection cover detection device is provided in the embodiments of the present disclosure, and the device comprises: The moving speed acquisition module is configured to acquire a detected moving speed, a detected acceleration, and a detected angular velocity of the multi-rotor aircraft at a plurality of detection time points. The climbing speed acquisition module is configured to acquire a detected climbing speed and a blade rotating speed of the multi-rotor aircraft at the plurality of detection time points if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detected moving speed, the detected acceleration, and the detected angular velocity. The theoretical acceleration acquisition module is configured to acquire a nominal weight of the multi-rotor aircraft, and acquire a theoretical climbing acceleration of the multi-rotor aircraft at the plurality of detection time points according to the blade rotating speed and the nominal weight. The disturbance acceleration acquisition module is configured to acquire a theoretical climbing speed and a disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time points according to the detected climbing speed and the theoretical climbing acceleration. The blade protection cover detection module is configured to determine whether the model of the multi-rotor aircraft and the model of the blade protection cover installed on the multi-rotor aircraft match according to the theoretical climbing speed and the disturbance climbing acceleration.

[0016] In a third aspect, an electronic device is provided in the embodiments of the present disclosure, and the device comprises a memory and a processor, wherein the memory is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the method in any one of the first aspect.

[0017] In a fourth aspect, a computer readable storage medium is provided in the embodiments of the present disclosure, and the computer readable storage medium stores computer instructions, and the computer instructions are executed by a processor to implement the method in any one of the first aspect.

[0018] According to the technical scheme provided by the embodiment of the present disclosure, the detection moving speed, the detection acceleration and the detection angular velocity detected by the multi-rotor aircraft at multiple detection moments are acquired; if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speed, the detection acceleration and the detection angular velocity, the detection climbing speed and the blade rotating speed detected by the multi-rotor aircraft at the multiple detection moments are acquired; the nominal weight of the multi-rotor aircraft is acquired, and the theoretical climbing acceleration of the multi-rotor aircraft at the multiple detection moments is acquired according to the blade rotating speed and the nominal weight; the theoretical climbing speed and the disturbance climbing acceleration of the multi-rotor aircraft at the multiple detection moments are acquired according to the detection climbing speed and the theoretical climbing acceleration; whether the model of the multi-rotor aircraft and the model of the blade protection cover installed on the multi-rotor aircraft match is determined according to the theoretical climbing speed and the disturbance climbing acceleration. The theoretical climbing speed is the climbing speed inferred based on the detected blade rotating speed on the premise that the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft; the disturbance climbing acceleration is the acceleration component in the climbing acceleration of the multi-rotor aircraft caused by the non-control input factor that the model of the multi-rotor aircraft does not match the model of the blade protection cover installed on the multi-rotor aircraft. When the multi-rotor aircraft is in a stable climbing state, if the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft, the theoretical climbing speed of the multi-rotor aircraft tends to be close to the detection climbing speed, and the disturbance climbing acceleration of the multi-rotor aircraft tends to be close to zero. Therefore, if the theoretical climbing speed of the multi-rotor aircraft and the detection climbing speed are relatively small, and the absolute value of the disturbance climbing acceleration of the multi-rotor aircraft is also relatively small, it is considered that the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft, and the operator of the multi-rotor aircraft does not need to be further reminded; on the contrary, if the theoretical climbing speed of the multi-rotor aircraft and the detection climbing speed are relatively large, or the absolute value of the disturbance climbing acceleration of the multi-rotor aircraft is relatively large, it is considered that the model of the blade protection cover installed on the multi-rotor aircraft does not match the model of the multi-rotor aircraft, so as to facilitate further reminding the operator of the multi-rotor aircraft to replace the blade protection cover of the multi-rotor aircraft, avoid causing the multi-rotor aircraft to lose control and crash, and improve the user experience.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0020] Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of the non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings: Figure 1 A flow chart of a blade protection cover detection method according to an embodiment of the present disclosure is shown.

[0021] Figure 2A structural block diagram of a paddle guard detection device according to an embodiment of the present disclosure is shown.

[0022] Figure 3 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0023] Figure 4 A structural schematic diagram of a computer system suitable for implementing a method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0024] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so as to be easily implemented by those skilled in the art. Also, portions unrelated to the description of the exemplary embodiments are omitted in the drawings for the sake of clarity.

[0025] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate that there are features, numbers, steps, actions, components, parts, or combinations thereof disclosed in the specification, and do not exclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof exist or are added.

[0026] It should also be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0027] In the present disclosure, if it relates to an operation of acquiring user information or user data or an operation of showing user information or user data to others, the operation is an operation authorized, confirmed, or actively selected by the user.

[0028] In the related art, some multi-rotor aircraft operators are prone to install paddle guards of wrong models on multi-rotor aircrafts before using the multi-rotor aircrafts, i.e., the models of the paddle guards do not match the models of the multi-rotor aircrafts. Since different models of the paddle guards have different effects on the moment of inertia of the multi-rotor aircrafts, and different models of the paddle guards also have different resistances to the thrust generated by the paddles. Therefore, when the models of the paddle guards do not match the models of the multi-rotor aircrafts, if the multi-rotor aircrafts still control the motors to drive the paddles to rotate based on the control parameters in the design, the actual output thrust of the paddles does not match the required thrust of the current multi-rotor aircraft, resulting in that the multi-rotor aircraft cannot control the corresponding actions or change its own attitude based on the control signals, and the multi-rotor aircraft is prone to lose control and crash.

[0029] To solve the above problem, the present disclosure provides a paddle guard detection method, device, equipment and medium.

[0030] Figure 1A flow chart of a propeller guard detection method according to an embodiment of the present disclosure is shown. The propeller guard detection method is applied to a multi-rotor aircraft or a terminal matched with the multi-rotor aircraft, where the terminal can be a smart device with multi-rotor aircraft control functions, such as a smartphone, a computer, a tablet computer, a vehicle-mounted device, a wearable device, etc.

[0031] As shown in Figure 1 The propeller guard detection method includes the following steps: In step S101, detection moving speeds, detection accelerations, and detection angular velocities detected by the multi-rotor aircraft at multiple detection time points are obtained.

[0032] In an implementation manner of the present disclosure, the detection moving speeds of the multi-rotor aircraft at the multiple detection time points can be obtained by periodically obtaining the position, speed, and time of the multi-rotor aircraft through a Global Navigation Satellite System (GNSS) module carried on the multi-rotor aircraft, and determining the detection moving speeds of the multi-rotor aircraft at the multiple detection time points based on the information obtained by the GNSS module. Alternatively, a video can be collected through an image collection device carried on the multi-rotor aircraft, and the moving speed of the multi-rotor aircraft at the corresponding detection time point can be inferred based on the displacement of feature points (such as ground texture, edge, spot, etc.) in multiple consecutive images in the collected video.

[0033] In an implementation manner of the present disclosure, the detection accelerations and the detection angular velocities of the multi-rotor aircraft at the multiple detection time points can be collected in real time through an inertial measurement unit carried on the multi-rotor aircraft.

[0034] In step S102, if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speeds, the detection accelerations, and the detection angular velocities, detection climb speeds and propeller rotation speeds of the multi-rotor aircraft at the multiple detection time points are obtained.

[0035] In an implementation manner of the present disclosure, the multi-rotor aircraft is in a stable hovering state at the multiple detection time points, which can be understood as that the detection moving speed of the multi-rotor aircraft at any detection time point belongs to a preset stable hovering speed interval, the detection acceleration of the multi-rotor aircraft at any detection time point belongs to a preset acceleration threshold interval, and the detection angular velocity of the multi-rotor aircraft at any detection time point belongs to a preset angular velocity threshold interval.

[0036] In step S103, a nominal weight of the multi-rotor aircraft is obtained, and a theoretical climb acceleration of the multi-rotor aircraft at the multiple detection time points is obtained according to the propeller rotation speeds and the nominal weight.

[0037] In an implementation manner of the present disclosure, the acquiring the nominal weight of the multicopter can be understood as reading the pre-stored nominal weight of the multicopter, or can be understood as sending the model of the multicopter to a nominal weight query server and receiving the nominal weight returned by the nominal weight query server.

[0038] In an implementation manner of the present disclosure, the acquiring the theoretical climb acceleration of the multicopter at the plurality of detection time instants according to the propeller rotation speed and the nominal weight can be understood as substituting the propeller rotation speed and the nominal weight into a pre-set algorithm matched with the model of the multicopter to calculate the theoretical climb acceleration. Alternatively, the propeller rotation speed and the nominal weight can be input into a pre-trained theoretical climb acceleration model matched with the model of the multicopter to obtain the theoretical climb acceleration output by the theoretical climb acceleration model.

[0039] For example, the theoretical propeller thrust of the multicopter at the plurality of detection time instants can be calculated according to the detected propeller rotation speed of the multicopter at the plurality of detection time instants and the thrust coefficient matched with the model of the multicopter. The theoretical climb acceleration of the multicopter at the plurality of detection time instants can be acquired according to the theoretical propeller thrust of the multicopter at the plurality of detection time instants and the nominal weight.

[0040] In step S104, the theoretical climb speed and the disturbance climb acceleration of the multicopter at the plurality of detection time instants are acquired according to the detected climb speed and the theoretical climb acceleration.

[0041] In an implementation manner of the present disclosure, the theoretical climb speed can be understood as the climb speed calculated based on the propeller thrust deduced according to the detected propeller rotation speed and the nominal weight of the multicopter, on the premise that the propeller guard matched with the model is installed on the multicopter. The disturbance climb acceleration is the acceleration component caused by the non-control input factor that the model of the multicopter does not match the model of the propeller guard installed on the multicopter in the climb acceleration of the multicopter.

[0042] In an implementation of the present disclosure, the theoretical climb speed and the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants are obtained according to the detected climb speed and the theoretical climb acceleration, which can be understood as that the detected climb speed and the theoretical climb acceleration of the multi-rotor aircraft at the plurality of detection time instants are substituted into a pre-obtained algorithm for calculation, and the theoretical climb speed and the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants are obtained through the calculation. Alternatively, the detected climb speed and the theoretical climb acceleration of the multi-rotor aircraft at the plurality of detection time instants can also be understood as inputs of a pre-trained climb acceleration model, and the theoretical climb speed and the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants output by the climb acceleration model are obtained by inputting the detected climb speed and the theoretical climb acceleration of the multi-rotor aircraft at the plurality of detection time instants into the climb acceleration model.

[0043] In an implementation of the present disclosure, the multi-rotor aircraft takes off at the first detection time instant among the plurality of detection time instants. The theoretical climb speed and the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants are obtained according to the detected climb speed and the theoretical climb acceleration, comprising: The value of the theoretical climb speed and the value of the disturbance climb acceleration at the first detection time instant are both 0. The value of the theoretical climb speed at the first detection time instant is obtained based on The value of the theoretical climb speed at any detection time instant except the first detection time instant among the plurality of detection time instants is obtained based on The value of the disturbance climb acceleration at any detection time instant is obtained based on , , The value of the theoretical climb speed at the previous detection time instant of any detection time instant, The value of the time difference between any two detection time instants among the plurality of detection time instants, The value of the detected climb speed detected at any detection time instant, The value of the theoretical climb acceleration at any detection time instant, The value of the disturbance climb acceleration at the previous detection time instant of any detection time instant, and all are preset theoretical speed parameters, wherein the units of the theoretical climb speed and the detected climb speed are , the units of the disturbance climb acceleration and the theoretical climb acceleration are , and the unit of the time difference is .

[0044] In step S105, whether the model of the multi-rotor aircraft and the model of the propeller protection cover installed on the multi-rotor aircraft match is determined according to the theoretical climb speed and the disturbance climb acceleration.

[0045] In one implementation of the present disclosure, determining whether the type of the multi-rotor aircraft matches the type of the propeller guard installed on the multi-rotor aircraft according to the theoretical climb speed and the perturbed climb acceleration can be understood as follows: if the theoretical climb speed of the multi-rotor aircraft is relatively close to the detected climb speed, and the absolute value of the perturbed climb acceleration of the multi-rotor aircraft is relatively small, it is considered that the multi-rotor aircraft is installed with the propeller guard of the matching type. Conversely, if the theoretical climb speed of the multi-rotor aircraft is relatively far from the detected climb speed, or the absolute value of the perturbed climb acceleration of the multi-rotor aircraft is relatively large, it is considered that the multi-rotor aircraft is not installed with the propeller guard of the matching type. The multi-rotor aircraft not installed with the propeller guard of the matching type includes: the multi-rotor aircraft installed with the propeller guard of the type not matching the type of the multi-rotor aircraft, the multi-rotor aircraft installed with the propeller guard of the matching type but with damage, and the multi-rotor aircraft not installed with the propeller guard.

[0046] Conversely, if the theoretical climb speed of the multi-rotor aircraft is relatively close to the detected climb speed, and the absolute value of the perturbed climb acceleration of the multi-rotor aircraft is relatively small, it is considered that the multi-rotor aircraft is installed with the propeller guard of the matching type.

[0047] In one implementation of the present disclosure, determining whether the type of the multi-rotor aircraft matches the type of the propeller guard installed on the multi-rotor aircraft according to the theoretical climb speed and the perturbed climb acceleration includes: If the absolute value of the mean of the difference between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, and the absolute value of the mean of the perturbed climb acceleration of the multi-rotor aircraft at multiple detection times is less than or equal to a preset perturbed climb acceleration threshold, it is determined that the type of the multi-rotor aircraft matches the type of the propeller guard installed on the multi-rotor aircraft. Conversely, if the absolute value of the mean of the difference between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at multiple detection times is greater than the preset climb speed difference threshold, or the absolute value of the mean of the perturbed climb acceleration of the multi-rotor aircraft at multiple detection times is greater than the preset perturbed climb acceleration threshold, it is determined that the type of the multi-rotor aircraft does not match the type of the propeller guard installed on the multi-rotor aircraft.

[0048] The absolute value of the mean of the difference between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at multiple detection times can be obtained by obtaining the difference between the theoretical climb speed and the detected climb speed at each detection time, then obtaining the mean of the differences at multiple detection times, and then obtaining the absolute value of the mean.

[0049] According to the technical scheme provided by the embodiment of the present disclosure, the detection moving speed, the detection acceleration and the detection angular velocity detected by the multi-rotor aircraft at multiple detection moments are acquired; if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speed, the detection acceleration and the detection angular velocity, the detection climbing speed and the blade rotating speed detected by the multi-rotor aircraft at multiple detection moments are acquired; the nominal weight of the multi-rotor aircraft is acquired, and the theoretical climbing acceleration of the multi-rotor aircraft at multiple detection moments is acquired according to the blade rotating speed and the nominal weight; the theoretical climbing speed and the disturbance climbing acceleration of the multi-rotor aircraft at multiple detection moments are acquired according to the detection climbing speed and the theoretical climbing acceleration; and whether the model of the multi-rotor aircraft and the model of the blade protection cover installed on the multi-rotor aircraft match is determined according to the theoretical climbing speed and the disturbance climbing acceleration. The theoretical climbing speed is the climbing speed inferred based on the detected blade rotating speed on the premise that the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft; and the disturbance climbing acceleration is the acceleration component in the climbing acceleration of the multi-rotor aircraft caused by the non-control input factor that the model of the multi-rotor aircraft does not match the model of the blade protection cover installed on the multi-rotor aircraft. When the multi-rotor aircraft is in a stable climbing state, if the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft, the theoretical climbing speed of the multi-rotor aircraft tends to be close to the detection climbing speed, and the disturbance climbing acceleration of the multi-rotor aircraft tends to be close to zero. Therefore, if the theoretical climbing speed of the multi-rotor aircraft and the detection climbing speed are relatively small, and the absolute value of the disturbance climbing acceleration of the multi-rotor aircraft is also relatively small, it is considered that the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft, and the operator of the multi-rotor aircraft does not need to be further reminded; on the contrary, if the theoretical climbing speed of the multi-rotor aircraft and the detection climbing speed are relatively large, or the absolute value of the disturbance climbing acceleration of the multi-rotor aircraft is relatively large, it is considered that the model of the blade protection cover installed on the multi-rotor aircraft does not match the model of the multi-rotor aircraft, so as to further remind the operator of the multi-rotor aircraft to replace the blade protection cover of the multi-rotor aircraft, avoid causing the multi-rotor aircraft to lose control and crash, and improve the user experience.

[0050] In an embodiment of the present disclosure, if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speed, the detection acceleration and the detection angular velocity, the detection climbing speed and the blade rotating speed detected by the multi-rotor aircraft at multiple detection moments are acquired, including: If the detection moving speeds detected by the multi-rotor aircraft at the plurality of detection moments are all less than or equal to the average moving speed, the absolute values of the detection accelerations detected by the multi-rotor aircraft at the plurality of detection moments are all less than or equal to the preset acceleration threshold, and the absolute values of the detection angular velocities detected by the multi-rotor aircraft at the plurality of detection moments are all less than or equal to the preset first angular velocity threshold, it is determined that the multi-rotor aircraft is in a stable hovering state, and the detection climbing speeds and the blade rotating speeds detected by the multi-rotor aircraft at the plurality of detection moments are obtained.

[0051] The theoretical climbing accelerations of the multi-rotor aircraft at the plurality of detection moments are obtained according to the blade rotating speeds and the nominal weight, including: The highest blade rotating speed and the lowest blade rotating speed are determined from the blade rotating speeds detected by the multi-rotor aircraft at the plurality of detection moments.

[0052] If the difference between the highest blade rotating speed and the lowest blade rotating speed is less than or equal to the blade rotating speed difference threshold, the theoretical climbing accelerations of the multi-rotor aircraft at the plurality of detection moments are obtained according to the blade rotating speeds and the nominal weight.

[0053] According to the technical scheme provided by the embodiment of the present disclosure, if the detection moving speeds detected by the multi-rotor aircraft at the plurality of detection moments are all less than or equal to the average moving speed, the absolute values of the detection accelerations detected by the multi-rotor aircraft at the plurality of detection moments are all less than or equal to the preset acceleration threshold, and the absolute values of the detection angular velocities detected by the multi-rotor aircraft at the plurality of detection moments are all less than or equal to the preset first angular velocity threshold, it is determined that the multi-rotor aircraft is in a stable hovering state, and the detection climbing speeds and the blade rotating speeds detected by the multi-rotor aircraft at the plurality of detection moments are obtained, which can improve the accuracy of determining that the multi-rotor aircraft is in a stable hovering state, avoid the interference of the additional movement of the multi-rotor aircraft on the detection of the detection climbing speeds and the blade rotating speeds, and help to improve the accuracy of the detected detection climbing speeds and the blade rotating speeds. The highest blade rotating speed and the lowest blade rotating speed are determined from the blade rotating speeds detected by the multi-rotor aircraft at the plurality of detection moments, and if the difference between the highest blade rotating speed and the lowest blade rotating speed is less than or equal to the blade rotating speed difference threshold, the theoretical climbing accelerations of the multi-rotor aircraft at the plurality of detection moments are obtained according to the blade rotating speeds and the nominal weight, which can avoid introducing too much error when calculating the theoretical climbing accelerations due to the too large change of the blade rotating speed, and improve the accuracy of the theoretical climbing accelerations.

[0054] In an embodiment of the present disclosure, the method further includes: The theoretical blade thrusts of the multi-rotor aircraft at the plurality of detection moments are obtained according to the blade rotating speeds detected by the multi-rotor aircraft at the plurality of detection moments and the thrust coefficients of the blades of the same type as the type of the multi-rotor aircraft.

[0055] According to the theoretical blade thrust of the multi-rotor aircraft at the plurality of detection time instants, the theoretical weight of the multi-rotor aircraft is obtained.

[0056] If the absolute value of the mean of the difference between the theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and the detected climbing speed is less than or equal to a preset climbing speed difference threshold, and the absolute value of the mean of the disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climbing acceleration threshold, it is determined that the model of the multi-rotor aircraft matches the model of the blade protective cover installed on the multi-rotor aircraft, comprising: If the absolute value of the mean of the difference between the theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and the detected climbing speed is less than or equal to a preset climbing speed difference threshold, the absolute value of the mean of the disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climbing acceleration threshold, and the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, it is determined that the model of the multi-rotor aircraft matches the model of the blade protective cover installed on the multi-rotor aircraft.

[0057] According to the technical scheme provided by the embodiments of the present disclosure, the theoretical blade thrust of the multi-rotor aircraft at the plurality of detection time instants is obtained according to the blade rotation speed detected by the multi-rotor aircraft at the plurality of detection time instants. According to the theoretical blade thrust of the multi-rotor aircraft at the plurality of detection time instants, the theoretical weight of the multi-rotor aircraft is obtained. If the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is too large, it can be determined that the theoretical blade thrust used to calculate the theoretical weight of the multi-rotor aircraft is inaccurate. Since the theoretical blade thrust is calculated based on the blade rotation speed and the thrust coefficient of the blade whose model matches the model of the multi-rotor aircraft, the accuracy of the blade rotation speed is considered to be high. Therefore, under this condition, it can be considered that the probability that the model of the blade protective cover installed on the multi-rotor aircraft does not match the model of the multi-rotor aircraft is relatively large. Under this condition, the blade protective cover generates excessive resistance to the blade thrust beyond the design, causing excessive loss of the blade thrust. Therefore, by determining that the model of the multi-rotor aircraft matches the model of the blade protective cover installed on the multi-rotor aircraft when the absolute value of the mean of the difference between the theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and the detected climbing speed is less than or equal to a preset climbing speed difference threshold, the absolute value of the mean of the disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climbing acceleration threshold, and the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, the accuracy of determining that the model of the multi-rotor aircraft matches the model of the blade protective cover installed on the multi-rotor aircraft can be improved.

[0058] In an embodiment of the present disclosure, the method further comprises: obtaining angular velocities detected by the multi-rotor aircraft at a plurality of detection moments.

[0059] obtaining vibration amplitudes of the multi-rotor aircraft in a frequency band of 5-20 Hz at the plurality of detection moments according to the angular velocities detected by the multi-rotor aircraft at the plurality of detection moments.

[0060] obtaining a mean value of the vibration amplitudes and a standard deviation of the vibration amplitudes.

[0061] if the absolute value of the mean value of the difference between the theoretical climbing speed of the multi-rotor aircraft at the plurality of detection moments and the detected climbing speed is less than or equal to a preset climbing speed difference threshold, the absolute value of the mean value of the disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection moments is less than or equal to a preset disturbance climbing acceleration threshold, and the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, determining that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft, comprising: if the absolute value of the mean value of the difference between the theoretical climbing speed of the multi-rotor aircraft at the plurality of detection moments and the detected climbing speed is less than or equal to a preset climbing speed difference threshold, the absolute value of the mean value of the disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection moments is less than or equal to a preset disturbance climbing acceleration threshold, the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, the mean value of the vibration amplitudes belongs to a preset vibration amplitude mean value interval, and the standard deviation of the vibration amplitudes belongs to a preset vibration amplitude standard deviation interval, determining that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft.

[0062] According to the technical scheme provided by the embodiment of the present disclosure, when the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, the mean value of the vibration amplitude of the multi-rotor aircraft in the 5Hz-20Hz frequency band deviates far from the preset vibration amplitude mean value interval, and the standard deviation of the vibration amplitude of the multi-rotor aircraft in the 5Hz-20Hz frequency band deviates far from the preset vibration amplitude standard deviation interval, so that when the absolute value of the mean value of the difference between the theoretical climbing speed of the multi-rotor aircraft at a plurality of detection times and the detected climbing speed is less than or equal to the preset climbing speed difference threshold, the absolute value of the mean value of the disturbance climbing acceleration of the multi-rotor aircraft at a plurality of detection times is less than or equal to the preset disturbance climbing acceleration threshold, the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to the preset weight difference threshold, the mean value of the vibration amplitude belongs to the preset vibration amplitude mean value interval, and the standard deviation of the vibration amplitude belongs to the preset vibration amplitude standard deviation interval, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft, which can further improve the accuracy of determining that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft. In an implementation manner of the present disclosure, the method further includes: If it is determined that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, propeller guard installation error prompt information for prompting that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft is output.

[0063] In an implementation manner of the present disclosure, the propeller guard installation error prompt information can be displayed through a terminal matched with the multi-rotor aircraft, for example, a prompt sound corresponding to the propeller guard installation error prompt information can be played through a loudspeaker on the terminal, or a video, an image or text corresponding to the propeller guard installation error prompt information can be displayed on a display screen of the terminal. Alternatively, the propeller guard installation error prompt information can also be displayed through the multi-rotor aircraft, for example, a prompt sound corresponding to the propeller guard installation error prompt information can be played through a loudspeaker on the multi-rotor aircraft, or a light group on the multi-rotor aircraft can flash at a flashing frequency corresponding to the propeller guard installation error prompt information.

[0064] According to the technical scheme provided by the embodiment of the present disclosure, when it is determined that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, the propeller guard installation error prompt information for prompting that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft is output, which can timely remind the user to replace the propeller guard and avoid damage to the multi-rotor aircraft out of control, thereby improving the user experience.

[0065] In an embodiment of the present disclosure, determining whether the type of the multi-rotor aircraft matches the type of the propeller guard installed on the multi-rotor aircraft according to the theoretical climb speed and the perturbed climb acceleration comprises: sending the theoretical climb speed and the perturbed climb acceleration to a propeller guard detection end, wherein the propeller guard detection end is configured to obtain the type of the multi-rotor aircraft, determine a pre-trained propeller guard detection model corresponding to the type of the multi-rotor aircraft, receive the theoretical climb speed and the perturbed climb acceleration, input the theoretical climb speed and the perturbed climb acceleration into the propeller guard detection model, obtain a propeller guard detection result output by the propeller guard detection model, and send the propeller guard detection result.

[0066] receiving the propeller guard detection result and determining whether the type of the multi-rotor aircraft matches the type of the propeller guard installed on the multi-rotor aircraft according to the propeller guard detection result.

[0067] In an embodiment of the present disclosure, the propeller guard detection model can be pre-stored in the propeller guard detection end or obtained by the propeller guard detection end from other devices or systems. The propeller guard detection model can be a neural network (NN) model, a convolutional neural network (CNN) model, or a long short-term memory (LSTM) model.

[0068] According to the technical solution provided by the embodiments of the present disclosure, the theoretical climb speed and the perturbed climb acceleration are sent to the propeller guard detection end, and the propeller guard detection result returned by the propeller guard detection end is received. Whether the type of the multi-rotor aircraft matches the type of the propeller guard installed on the multi-rotor aircraft is determined according to the propeller guard detection result. The propeller guard detection end is configured to obtain the type of the multi-rotor aircraft, determine a pre-trained propeller guard detection model corresponding to the type of the multi-rotor aircraft, receive the theoretical climb speed and the perturbed climb acceleration, input the theoretical climb speed and the perturbed climb acceleration into the propeller guard detection model, and obtain a propeller guard detection result output by the propeller guard detection model. The accuracy of the propeller guard detection result is high, and therefore the technical solution can improve the accuracy of determining whether the type of the multi-rotor aircraft matches the type of the propeller guard installed on the multi-rotor aircraft.

[0069] In an embodiment of the present disclosure, the method further comprises: determine whether the multi-rotor aircraft is subjected to external force dragging at the plurality of detection moments according to the propeller guard detection result, or determine whether the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to the preset wind speed threshold at the plurality of detection moments according to the propeller guard detection result.

[0070] If it is determined that the multi-rotor aircraft is subjected to external force dragging at the plurality of detection moments, the prohibition dragging prompt information for prompting prohibition of dragging the multi-rotor aircraft by external force is output.

[0071] If it is determined that the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to the preset wind speed threshold at the plurality of detection moments, the wind speed prompt information for prompting that the wind speed of the current environmental wind affects the flight safety of the multi-rotor aircraft is output.

[0072] In an implementation manner of the present disclosure, the prohibition dragging prompt information and the wind speed prompt information can be displayed through a terminal matched with the multi-rotor aircraft, for example, a prompt sound corresponding to the prohibition dragging prompt information or the wind speed prompt information can be played through a speaker on the terminal, or a video, an image or text corresponding to the prohibition dragging prompt information or the wind speed prompt information can be displayed through a display screen on the terminal. Alternatively, the prohibition dragging prompt information and the wind speed prompt information can also be displayed through the multi-rotor aircraft, for example, a prompt sound corresponding to the prohibition dragging prompt information or the wind speed prompt information can be played through a speaker on the multi-rotor aircraft, or a lamp group on the multi-rotor aircraft can flash at a flashing frequency corresponding to the prohibition dragging prompt information or the wind speed prompt information.

[0073] According to the technical scheme provided by the embodiments of the present disclosure, whether the multi-rotor aircraft is subjected to external force dragging at the plurality of detection moments is determined according to the propeller guard detection result, or whether the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to the preset wind speed threshold at the plurality of detection moments is determined according to the propeller guard detection result. If it is determined that the multi-rotor aircraft is subjected to external force dragging at the plurality of detection moments, the prohibition dragging prompt information for prompting prohibition of dragging the multi-rotor aircraft by external force is output. If it is determined that the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to the preset wind speed threshold at the plurality of detection moments, the wind speed prompt information for prompting that the wind speed of the current environmental wind affects the flight safety of the multi-rotor aircraft is output. This can facilitate reminding the user to prohibit dragging the multi-rotor aircraft by external force when the multi-rotor aircraft is subjected to external force dragging, or reminding the user to pay attention to the environmental wind when the multi-rotor aircraft is affected by the environmental wind with too large wind speed, so as to avoid damage of the multi-rotor aircraft out of control, thereby improving the user experience.

[0074] In an implementation manner of the present disclosure, the method further includes: If it is determined that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, the control instruction received by the multi-rotor aircraft is acquired.

[0075] obtaining at least one of an expected pitch angle, an expected roll angle, an expected yaw angle, an expected angular velocity, an expected blade rotating speed, an expected moving speed and an expected position of the multicopter after executing the control instruction.

[0076] If at least one of the following conditions is met: the expected pitch angle is greater than or equal to a preset pitch angle threshold, the expected roll angle is greater than or equal to a preset roll angle threshold, the expected yaw angle is greater than or equal to a preset yaw angle threshold, the expected angular velocity is greater than or equal to a preset second angular velocity threshold, the expected blade rotating speed is greater than or equal to a preset blade rotating speed threshold, the expected moving speed is greater than or equal to a preset moving speed threshold, and a distance between the expected position and a takeoff position of the multicopter is greater than or equal to a preset distance threshold, the multicopter is controlled not to execute the control instruction, and prompt information prompting that the control instruction is not executed is displayed.

[0077] According to the technical scheme provided by the embodiments of the present disclosure, if it is determined that the model of the multicopter does not match the model of the blade protection cover installed on the multicopter, a control instruction received by the multicopter is obtained. At least one of an expected pitch angle, an expected roll angle, an expected yaw angle, an expected angular velocity, an expected blade rotating speed, an expected moving speed and an expected position of the multicopter after executing the control instruction is obtained. If at least one of the following conditions is met: the expected pitch angle is greater than or equal to a preset pitch angle threshold, the expected roll angle is greater than or equal to a preset roll angle threshold, the expected yaw angle is greater than or equal to a preset yaw angle threshold, the expected angular velocity is greater than or equal to a preset second angular velocity threshold, the expected blade rotating speed is greater than or equal to a preset blade rotating speed threshold, the expected moving speed is greater than or equal to a preset moving speed threshold, and a distance between the expected position and a takeoff position of the multicopter is greater than or equal to a preset distance threshold, it can be considered that the multicopter will make an action or be in a posture that is easy to cause the multicopter to lose control after executing the control instruction. Therefore, by controlling the multicopter not to execute the control instruction and displaying prompt information prompting that the control instruction is not executed, the multicopter can be prevented from losing control and being damaged, and user experience is improved.

[0078] Figure 2 A structural block diagram of a blade protection cover detection device according to an embodiment of the present disclosure is shown. The device can be implemented as part or all of an electronic device by software, hardware or a combination of both.

[0079] As shown in Figure 2 The blade protection cover detection device 200 includes: A moving speed obtaining module 201 configured to obtain a detected moving speed, a detected acceleration and a detected angular velocity of the multicopter detected at a plurality of detection time points.

[0080] The climbing speed obtaining module 202 is configured to obtain the detected climbing speed and the blade rotating speed of the multi-rotor aircraft at the plurality of detection time points if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detected moving speed, the detected acceleration and the detected angular speed.

[0081] The theoretical acceleration obtaining module 203 is configured to obtain the nominal weight of the multi-rotor aircraft, and obtain the theoretical climbing acceleration of the multi-rotor aircraft at the plurality of detection time points according to the blade rotating speed and the nominal weight.

[0082] The disturbance acceleration obtaining module 204 is configured to obtain the theoretical climbing speed and the disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time points according to the detected climbing speed and the theoretical climbing acceleration.

[0083] The blade guard detection module 205 is configured to determine whether the model of the multi-rotor aircraft and the model of the blade guard installed on the multi-rotor aircraft match according to the theoretical climbing speed and the disturbance climbing acceleration.

[0084] According to the technical scheme provided by the embodiment of the present disclosure, the detection moving speed, the detection acceleration and the detection angular velocity detected by the multi-rotor aircraft at multiple detection moments are obtained; if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speed, the detection acceleration and the detection angular velocity, the detection climbing speed and the blade rotating speed detected by the multi-rotor aircraft at the multiple detection moments are obtained; the nominal weight of the multi-rotor aircraft is obtained, and the theoretical climbing acceleration of the multi-rotor aircraft at the multiple detection moments is obtained according to the blade rotating speed and the nominal weight; the theoretical climbing speed and the disturbance climbing acceleration of the multi-rotor aircraft at the multiple detection moments are obtained according to the detection climbing speed and the theoretical climbing acceleration; and whether the model of the multi-rotor aircraft and the model of the blade protection cover installed on the multi-rotor aircraft match is determined according to the theoretical climbing speed and the disturbance climbing acceleration. The theoretical climbing speed is the climbing speed inferred based on the detected blade rotating speed on the premise that the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft; and the disturbance climbing acceleration is the acceleration component in the climbing acceleration of the multi-rotor aircraft caused by the non-control input factor that the model of the multi-rotor aircraft does not match the model of the blade protection cover installed on the multi-rotor aircraft. When the multi-rotor aircraft is in a stable climbing state, if the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft, the theoretical climbing speed of the multi-rotor aircraft tends to be close to the detection climbing speed, and the disturbance climbing acceleration of the multi-rotor aircraft tends to be close to zero. Therefore, if the theoretical climbing speed of the multi-rotor aircraft and the detection climbing speed are relatively small, and the absolute value of the disturbance climbing acceleration of the multi-rotor aircraft is also relatively small, it is considered that the model of the blade protection cover installed on the multi-rotor aircraft matches the model of the multi-rotor aircraft, and the operator of the multi-rotor aircraft does not need to be further reminded; otherwise, if the theoretical climbing speed of the multi-rotor aircraft and the detection climbing speed are relatively large, or the absolute value of the disturbance climbing acceleration of the multi-rotor aircraft is relatively large, it is considered that the model of the blade protection cover installed on the multi-rotor aircraft does not match the model of the multi-rotor aircraft, so as to further remind the operator of the multi-rotor aircraft to replace the blade protection cover of the multi-rotor aircraft, avoid causing the multi-rotor aircraft to lose control and crash, and improve the user experience.

[0085] The present disclosure also discloses an electronic device, Figure 3 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0086] As Figure 3 shown, the electronic device includes a memory and a processor, wherein the memory is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the method according to the embodiment of the present disclosure.

[0087] The present disclosure provides a blade protection cover detection method, comprising: The detection moving speed, the detection acceleration and the detection angular velocity detected by the multi-rotor aircraft at the detection time points are acquired.

[0088] If it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speed, the detection acceleration and the detection angular velocity, the detection climbing speed and the blade rotating speed detected by the multi-rotor aircraft at the detection time points are acquired.

[0089] The nominal weight of the multi-rotor aircraft is acquired, and the theoretical climbing acceleration of the multi-rotor aircraft at the detection time points is acquired according to the blade rotating speed and the nominal weight.

[0090] The theoretical climbing speed and the disturbance climbing acceleration of the multi-rotor aircraft at the detection time points are acquired according to the detection climbing speed and the theoretical climbing acceleration.

[0091] Whether the model of the multi-rotor aircraft and the model of the blade protection cover installed on the multi-rotor aircraft match is determined according to the theoretical climbing speed and the disturbance climbing acceleration.

[0092] In an embodiment of the present disclosure, if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speed, the detection acceleration and the detection angular velocity, the detection climbing speed and the blade rotating speed detected by the multi-rotor aircraft at the detection time points are acquired, including: If the detection moving speed detected by the multi-rotor aircraft at the detection time points is all less than or equal to the moving speed average, the absolute value of the detection acceleration detected by the multi-rotor aircraft at the detection time points is all less than or equal to the preset acceleration threshold, and the absolute value of the detection angular velocity detected by the multi-rotor aircraft at the detection time points is all less than or equal to the preset first angular velocity threshold, it is determined that the multi-rotor aircraft is in a stable hovering state, and the detection climbing speed and the blade rotating speed detected by the multi-rotor aircraft at the detection time points are acquired.

[0093] The theoretical climbing acceleration of the multi-rotor aircraft at the detection time points is acquired according to the blade rotating speed and the nominal weight, including: The highest blade rotating speed and the lowest blade rotating speed are determined from the blade rotating speed detected by the multi-rotor aircraft at the detection time points.

[0094] If the difference between the highest blade rotating speed and the lowest blade rotating speed is less than or equal to the blade rotating speed difference threshold, the theoretical climbing acceleration of the multi-rotor aircraft at the detection time points is acquired according to the blade rotating speed and the nominal weight.

[0095] In an embodiment of the present disclosure, the multi-rotor aircraft takes off at a first detection time point among the detection time points. According to the detected climbing speed and the theoretical climbing acceleration, the theoretical climbing speed and the disturbance climbing acceleration of the multi-rotor aircraft at multiple detection time points are obtained, including: The value of the theoretical climbing speed and the value of the disturbance climbing acceleration at the first detection time point are both 0; Based on The value of the theoretical climbing speed at any detection time point except the first detection time point among the multiple detection time points is obtained , based on The value of the disturbance climbing acceleration at any detection time point is obtained , The value of the theoretical climbing speed at the previous detection time point of any detection time point, The value of the time difference between any two detection time points among the multiple detection time points, The value of the detected detection climbing speed at any detection time point, The value of the theoretical climbing acceleration at any detection time point, The value of the disturbance climbing acceleration at the previous detection time point of any detection time point, and all The preset theoretical speed parameter, wherein the units of the theoretical climbing speed and the detected climbing speed are , the units of the disturbance climbing acceleration and the theoretical climbing acceleration are , and the unit of the time difference is .

[0096] In an embodiment of the present disclosure, the model of the multi-rotor aircraft and the model of the propeller protection cover installed on the multi-rotor aircraft are determined according to the theoretical climbing speed and the disturbance climbing acceleration, including: If the absolute value of the average of the differences between the theoretical climbing speed and the detected climbing speed of the multi-rotor aircraft at the multiple detection time points is less than or equal to a preset climbing speed difference threshold value, and the absolute value of the average of the disturbance climbing accelerations of the multi-rotor aircraft at the multiple detection time points is less than or equal to a preset disturbance climbing acceleration threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the propeller protection cover installed on the multi-rotor aircraft.

[0097] In an embodiment of the present disclosure, the method further includes: According to the detected propeller rotating speed of the multi-rotor aircraft at the multiple detection time points and the thrust coefficient of the propeller of the model matching the model of the multi-rotor aircraft, the theoretical propeller thrust of the multi-rotor aircraft at the multiple detection time points is obtained.

[0098] According to the theoretical propeller thrust of the multi-rotor aircraft at the multiple detection time points, the theoretical weight of the multi-rotor aircraft is obtained.

[0099] If the absolute value of the mean of the difference between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset climb speed difference threshold value, and the absolute value of the mean of the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climb acceleration threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft, comprising: If the absolute value of the mean of the difference between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset climb speed difference threshold value, the absolute value of the mean of the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climb acceleration threshold value, and the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft.

[0100] In an embodiment of the present disclosure, the method further comprises: Obtaining the angular velocity detected by the multi-rotor aircraft at the plurality of detection time instants.

[0101] According to the angular velocity detected by the multi-rotor aircraft at the plurality of detection time instants, obtaining the vibration amplitude of the multi-rotor aircraft in the frequency band of 5Hz-20Hz at the plurality of detection time instants.

[0102] Obtaining the mean of the vibration amplitude and the standard deviation of the vibration amplitude.

[0103] If the absolute value of the mean of the difference between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset climb speed difference threshold value, the absolute value of the mean of the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climb acceleration threshold value, and the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft, comprising: If the absolute value of the mean of the difference between the theoretical climb speed and the detected climb speed of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset climb speed difference threshold value, the absolute value of the mean of the disturbance climb acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to a preset disturbance climb acceleration threshold value, the weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold value, the mean of the vibration amplitude belongs to a preset vibration amplitude mean interval, and the standard deviation of the vibration amplitude belongs to a preset vibration amplitude standard deviation interval, it is determined that the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft.

[0104] In an embodiment of the present disclosure, the method further comprises: If it is determined that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, outputting propeller guard installation error prompt information for prompting that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft.

[0105] In an embodiment of the present disclosure, determining whether the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft according to the theoretical climb speed and the perturbed climb acceleration comprises: sending the theoretical climb speed and the perturbed climb acceleration to a propeller guard detection end, wherein the propeller guard detection end is configured to acquire the model of the multi-rotor aircraft, determine a pre-trained propeller guard detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climb speed and the perturbed climb acceleration, input the theoretical climb speed and the perturbed climb acceleration into the propeller guard detection model, acquire a propeller guard detection result output by the propeller guard detection model, and send the propeller guard detection result.

[0106] receiving the propeller guard detection result and determining whether the model of the multi-rotor aircraft matches the model of the propeller guard installed on the multi-rotor aircraft according to the propeller guard detection result.

[0107] In an embodiment of the present disclosure, the method further comprises: determining, according to the propeller guard detection result, whether the multi-rotor aircraft is subjected to external force dragging at multiple detection time points, or determining, according to the propeller guard detection result, whether the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to a preset wind speed threshold at the multiple detection time points.

[0108] If it is determined that the multi-rotor aircraft is subjected to external force dragging at the multiple detection time points, outputting prohibition dragging prompt information for prompting that the multi-rotor aircraft is prohibited from being dragged by external force.

[0109] If it is determined that the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located is greater than or equal to the preset wind speed threshold at the multiple detection time points, outputting prompt information for prompting that the wind speed of the current environmental wind affects the flight safety of the multi-rotor aircraft.

[0110] In an embodiment of the present disclosure, the method further comprises: If it is determined that the model of the multi-rotor aircraft does not match the model of the propeller guard installed on the multi-rotor aircraft, acquiring a control instruction received by the multi-rotor aircraft.

[0111] At least one of the expected pitch angle, the expected roll angle, the expected yaw angle, the expected angular velocity, the expected blade rotation speed, the expected moving speed, and the expected position of the multicopter after executing the control instruction is acquired.

[0112] If at least one of the expected pitch angle is greater than or equal to a preset pitch angle threshold, the expected roll angle is greater than or equal to a preset roll angle threshold, the expected yaw angle is greater than or equal to a preset yaw angle threshold, the expected angular velocity is greater than or equal to a preset second angular velocity threshold, the expected blade rotation speed is greater than or equal to a preset blade rotation speed threshold, the expected moving speed is greater than or equal to a preset moving speed threshold, and a distance between the expected position and a takeoff position of the multicopter is greater than or equal to a preset distance threshold is satisfied, the multicopter is controlled not to execute the control instruction, and prompt information prompting that the control instruction is not executed is displayed.

[0113] Figure 4 A structural diagram of a computer system suitable for implementing the method according to the embodiments of the present disclosure is shown.

[0114] As shown in Figure 4 , the computer system includes a processing unit that can execute various methods in the above embodiments according to programs stored in a read-only memory (ROM) or loaded from a storage section into a random access memory (RAM). Various programs and data required for the operation of the computer system are also stored in the RAM. The processing unit, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0115] The following components are connected to the I / O interface: an input section including a keyboard, a mouse, and the like. An output section including a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like. A storage section including a hard disk, and the like. And a communication section including a network interface card such as a LAN card, a modem, and the like. The communication section performs communication processes via a network such as the Internet. A drive is also connected to the I / O interface as needed. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is mounted on the drive as needed, so that a computer program read therefrom is installed in the storage section as needed. Among them, the processing unit can be implemented as a CPU, a GPU, a TPU, a FPGA, a NPU, and the like processing unit.

[0116] In particular, the method described above can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for executing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication part, and / or installed from a removable medium.

[0117] The flow and block diagrams in the drawings show the architectural, functional and operational views of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow and block diagrams can represent a module, a segment, or a portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession can in fact be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block in the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0118] The units or modules described in the embodiments of the present disclosure can be implemented by means of software, or by means of programmable hardware. The described units or modules can also be provided in a processor, and the names of these units or modules do not constitute a limitation on the units or modules themselves in some cases.

[0119] As another aspect, the present disclosure also provides a computer readable storage medium, which can be the computer readable storage medium contained in the electronic device or computer system in the above embodiments. It can also be a computer readable storage medium that exists independently and is not assembled into a device. The computer readable storage medium stores one or more programs, which are used by one or more processors to execute the methods described in the present disclosure.

[0120] The above description is merely that of the preferred embodiments of the present disclosure and a description of the technical principles of the present disclosure. It should be understood by those skilled in the art that the inventive scope involved in the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by the combinations of the above technical features or equivalent features without departing from the inventive concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features with similar functions disclosed in the present disclosure (but not limited to) without departing from the inventive concept.

Claims

1. A method of detecting a paddle cover, the method comprising: The method comprises: obtaining detection moving speeds, detection accelerations and detection angular velocities detected by the multi-rotor aircraft at multiple detection time points; if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speeds, the detection accelerations and the detection angular velocities, then obtaining detection climbing speeds and blade rotating speeds detected by the multi-rotor aircraft at multiple detection time points; obtaining a nominal weight of the multi-rotor aircraft, and obtaining theoretical climbing accelerations of the multi-rotor aircraft at the multiple detection time points according to the blade rotating speeds and the nominal weight; obtaining theoretical climbing speeds and disturbance climbing accelerations of the multi-rotor aircraft at the multiple detection time points according to the detection climbing speeds and the theoretical climbing accelerations; determining whether the model of the multi-rotor aircraft matches the model of the blade protection cover installed on the multi-rotor aircraft according to the theoretical climbing speeds and the disturbance climbing accelerations.

2. The paddle boot detection method of claim 1, wherein, The method of obtaining the detection climbing speeds and the blade rotating speeds detected by the multi-rotor aircraft at multiple detection time points if it is determined that the multi-rotor aircraft is in a stable hovering state based on the detection moving speeds, the detection accelerations and the detection angular velocities comprises: if the detection moving speeds detected by the multi-rotor aircraft at the multiple detection time points are all less than or equal to a moving speed average, the absolute values of the detection accelerations detected by the multi-rotor aircraft at the multiple detection time points are all less than or equal to a preset acceleration threshold, and the absolute values of the detection angular velocities detected by the multi-rotor aircraft at the multiple detection time points are all less than or equal to a preset first angular velocity threshold, then it is determined that the multi-rotor aircraft is in a stable hovering state, and the detection climbing speeds and the blade rotating speeds detected by the multi-rotor aircraft at multiple detection time points are obtained. The method of obtaining the theoretical climbing accelerations of the multi-rotor aircraft at the multiple detection time points according to the blade rotating speeds and the nominal weight comprises: determining a highest blade rotating speed and a lowest blade rotating speed among the blade rotating speeds detected by the multi-rotor aircraft at the multiple detection time points; if the difference between the highest blade rotating speed and the lowest blade rotating speed is less than or equal to a blade rotating speed difference threshold, then the theoretical climbing accelerations of the multi-rotor aircraft at the multiple detection time points are obtained according to the blade rotating speeds and the nominal weight.

3. The paddle boot detection method of claim 1, wherein, The multi-rotor aircraft takes off at a first detection time point among the multiple detection time points. The method of obtaining the theoretical climbing speeds and the disturbance climbing accelerations of the multi-rotor aircraft at the multiple detection time points according to the detection climbing speeds and the theoretical climbing accelerations comprises: the value of the theoretical climbing speed and the value of the disturbance climbing acceleration at the first detection time point are both 0. based on a value of a theoretical climb speed at any detection time instant of the plurality of detection time instants except the first detection time instant , based on a value of a disturbance climb acceleration at the any detection time instant , a value of a theoretical climb speed at a previous detection time instant of the any detection time instant, a value of a time difference between any two detection time instants of the plurality of detection time instants, a value of a detected climb speed at the any detection time instant, a value of a theoretical climb acceleration at the any detection time instant, a value of a disturbance climb acceleration at a previous detection time instant of the any detection time instant, and all are preset theoretical speed parameters, wherein the units of the theoretical climb speed, the detected climb speed are the units of the disturbance climb acceleration, the theoretical climb acceleration are and the unit of the time difference is .

4. The paddle boot detection method of claim 1, wherein, The method of determining whether the model of the multi-rotor aircraft matches the model of the blade protection cover installed on the multi-rotor aircraft according to the theoretical climbing speeds and the disturbance climbing accelerations comprises: If absolute value of mean of difference between theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and detected climbing speed is less than or equal to preset climbing speed difference threshold value, and absolute value of mean of disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to preset disturbance climbing acceleration threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the blade protection cover installed on the multi-rotor aircraft.

5. The paddle boot detection method of claim 4, wherein, The method further comprises: According to the blade rotating speed detected by the multi-rotor aircraft at the plurality of detection time instants and the thrust coefficient of the blade whose model matches the model of the multi-rotor aircraft, the theoretical blade thrust of the multi-rotor aircraft at the plurality of detection time instants is obtained; According to the theoretical blade thrust of the multi-rotor aircraft at the plurality of detection time instants, the theoretical weight of the multi-rotor aircraft is obtained; The if absolute value of mean of difference between theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and detected climbing speed is less than or equal to preset climbing speed difference threshold value, and absolute value of mean of disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to preset disturbance climbing acceleration threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the blade protection cover installed on the multi-rotor aircraft, comprising: If absolute value of mean of difference between theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and detected climbing speed is less than or equal to preset climbing speed difference threshold value, absolute value of mean of disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to preset disturbance climbing acceleration threshold value, and weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to preset weight difference threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the blade protection cover installed on the multi-rotor aircraft.

6. The paddle boot detection method of claim 4, wherein, The method further comprises: Obtaining angular velocity detected by the multi-rotor aircraft at the plurality of detection time instants; According to the angular velocity detected by the multi-rotor aircraft at the plurality of detection time instants, vibration amplitude of the multi-rotor aircraft in 5Hz-20Hz frequency band at the plurality of detection time instants is obtained; Obtaining mean of the vibration amplitude and standard deviation of the vibration amplitude; The if absolute value of mean of difference between theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and detected climbing speed is less than or equal to preset climbing speed difference threshold value, and absolute value of mean of disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to preset disturbance climbing acceleration threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the blade protection cover installed on the multi-rotor aircraft, comprising: If absolute value of mean of difference between theoretical climbing speed of the multi-rotor aircraft at the plurality of detection time instants and detected climbing speed is less than or equal to preset climbing speed difference threshold value, absolute value of mean of disturbance climbing acceleration of the multi-rotor aircraft at the plurality of detection time instants is less than or equal to preset disturbance climbing acceleration threshold value, and weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to preset weight difference threshold value, it is determined that the model of the multi-rotor aircraft matches the model of the blade protection cover installed on the multi-rotor aircraft. If an absolute value of a mean of differences between the theoretical climbing speeds of the multi-rotor aircraft at the multiple detection time points and the detected climbing speeds is less than or equal to a preset climbing speed difference threshold, an absolute value of a mean of the disturbance climbing accelerations of the multi-rotor aircraft at the multiple detection time points is less than or equal to a preset disturbance climbing acceleration threshold, a weight difference between the theoretical weight of the multi-rotor aircraft and the nominal weight of the multi-rotor aircraft is less than or equal to a preset weight difference threshold, the mean of the vibration amplitudes belongs to a preset mean vibration amplitude interval, and the standard deviation of the vibration amplitudes belongs to a preset vibration amplitude standard deviation interval, it is determined that the model of the multi-rotor aircraft matches the model of the blade guard installed on the multi-rotor aircraft.

7. The paddle boot detection method of claim 1, wherein, The method further comprises: If it is determined that the model of the multi-rotor aircraft does not match the model of the blade guard installed on the multi-rotor aircraft, blade guard installation error prompt information for prompting that the model of the multi-rotor aircraft does not match the model of the blade guard installed on the multi-rotor aircraft is output.

8. The paddle boot detection method of claim 1, wherein, The determination of whether the model of the multi-rotor aircraft matches the model of the blade guard installed on the multi-rotor aircraft according to the theoretical climbing speed and the disturbance climbing acceleration comprises: The theoretical climbing speed and the disturbance climbing acceleration are sent to a blade guard detection end, wherein the blade guard detection end is configured to acquire the model of the multi-rotor aircraft, determine a pre-trained blade guard detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climbing speed and the disturbance climbing acceleration, input the theoretical climbing speed and the disturbance climbing acceleration into the blade guard detection model, acquire a blade guard detection result output by the blade guard detection model, and send the blade guard detection result; The blade guard detection result is received, and it is determined according to the blade guard detection result whether the model of the multi-rotor aircraft matches the model of the blade guard installed on the multi-rotor aircraft.

9. The paddle boot detection method of claim 8, wherein, The method further comprises: It is determined according to the blade guard detection result whether the multi-rotor aircraft is subjected to external force dragging at the multiple detection time points, or it is determined according to the blade guard detection result whether a wind speed of an environmental wind in an environment where the multi-rotor aircraft is located at the multiple detection time points is greater than or equal to a preset wind speed threshold; If it is determined that the multi-rotor aircraft is subjected to external force dragging at the multiple detection time points, prohibition dragging prompt information for prompting that the multi-rotor aircraft is prohibited from being dragged by external force is output; If it is determined that the wind speed of the environmental wind in the environment where the multi-rotor aircraft is located at the multiple detection time points is greater than or equal to the preset wind speed threshold, prompt information for prompting that the wind speed of the current environmental wind affects the flight safety of the multi-rotor aircraft is output.

10. The paddle boot detection method of claim 1, wherein, The method further comprises: If it is determined that the model of the multi-rotor aircraft does not match the model of the blade guard installed on the multi-rotor aircraft, a control instruction received by the multi-rotor aircraft is acquired. acquiring at least one of an expected pitch angle, an expected roll angle, an expected yaw angle, an expected angular velocity, an expected blade rotating speed, an expected moving speed, and an expected position of the multicopter after executing the control instruction; if at least one of the expected pitch angle is greater than or equal to a preset pitch angle threshold, the expected roll angle is greater than or equal to a preset roll angle threshold, the expected yaw angle is greater than or equal to a preset yaw angle threshold, the expected angular velocity is greater than or equal to a preset second angular velocity threshold, the expected blade rotating speed is greater than or equal to a preset blade rotating speed threshold, the expected moving speed is greater than or equal to a preset moving speed threshold, and a distance between the expected position and a takeoff position of the multicopter is greater than or equal to a preset distance threshold is satisfied, controlling the multicopter not to execute the control instruction, and displaying prompt information for prompting that the control instruction is not executed.

11. A paddle boot detection device, characterized by, comprising: a moving speed acquisition module configured to acquire a detected moving speed, a detected acceleration, and a detected angular velocity of a multicopter detected at a plurality of detection time points; a climbing speed acquisition module configured to acquire a detected climbing speed and a blade rotating speed of the multicopter detected at a plurality of detection time points if it is determined that the multicopter is in a stable hovering state based on the detected moving speed, the detected acceleration, and the detected angular velocity; a theoretical acceleration acquisition module configured to acquire a nominal weight of the multicopter, and acquire a theoretical climbing acceleration of the multicopter at the plurality of detection time points according to the blade rotating speed and the nominal weight; a disturbance acceleration acquisition module configured to acquire a theoretical climbing speed and a disturbance climbing acceleration of the multicopter at the plurality of detection time points according to the detected climbing speed and the theoretical climbing acceleration; a blade guard detection module configured to determine whether a model of the multicopter and a model of a blade guard installed on the multicopter match according to the theoretical climbing speed and the disturbance climbing acceleration.

12. An electronic device, comprising: comprising a memory and a processor; wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method of any one of claims 1-10.

13. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are executed by the processor to implement the method of any one of claims 1-10. The computer instructions are executed by the processor to implement the method of any one of claims 1-10.

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