Paddle detection method, apparatus, device, and medium

Abstract

The present disclosure relates to the technical field of multi-rotor aircraft, and particularly relates to a propeller detection method, device, equipment and medium, the method comprising: acquiring detection climbing speeds of a multi-rotor aircraft detected at multiple detection times; if it is determined according to the detection climbing speeds that the multi-rotor aircraft is in a stable climbing state at the multiple detection times, then acquiring theoretical climbing accelerations of the multiple detection times according to propeller rotating speeds and a nominal weight; acquiring theoretical climbing speeds and disturbance climbing accelerations of the multiple detection times according to the detection climbing speeds and the theoretical climbing accelerations; and determining whether a model of the multi-rotor aircraft and a model of the propeller installed on the multi-rotor aircraft match according to the theoretical climbing speeds and the disturbance climbing accelerations. The scheme can determine whether the model of the multi-rotor aircraft and the model of the propeller installed on the multi-rotor aircraft match, so as to facilitate reminding an operator to replace the propeller of which the model does not match in time, so as to avoid causing the unmanned aerial vehicle to lose control and crash, and improve user experience.

Description

Technical Field

[0001] This disclosure relates to the field of multi-rotor aircraft technology, specifically to a blade detection method, device, equipment, and medium. Background Technology

[0002] In recent years, multirotor aircraft have been widely used in various fields. A multirotor aircraft typically consists of multiple motors, each with its own drive shaft connected to a corresponding rotor blade. The electronic control module on the multirotor responds to control signals, driving the rotor blades to rotate via the motors, enabling the multirotor to perform corresponding actions or change its attitude. Considering that rotor blades are vulnerable components and for ease of storage, they are generally designed to be detachable, allowing the multirotor operator to install the blades before using the aircraft.

[0003] However, some multirotor operators mistakenly install the wrong type of rotor blades on their multirotors before use, meaning the blade type is incompatible with the multirotor model. Since different blade types produce different thrust at the same rotational speed, when the multirotor controls the motors based on its design parameters to drive the blades, the actual power output of the blades may not match the designed power output. This can cause the multirotor to be unable to perform the required maneuvers or change its attitude based on the control signals, easily leading to loss of control and a crash. Summary of the Invention

[0004] To address the problems in the related technologies, this disclosure provides a blade detection method, apparatus, device, and medium.

[0005] In a first aspect, this disclosure provides a blade detection method, including:

[0006] Obtain the detected climb velocity of the multi-rotor aircraft at multiple detection moments;

[0007] If the multirotor aircraft is determined to be in a stable climbing state at multiple detection times based on the detected climb speed, then the rotor speed detected by the multirotor aircraft at multiple detection times is obtained.

[0008] Obtain the nominal weight of the multirotor aircraft, and obtain the theoretical climb acceleration of the multirotor aircraft at multiple test moments based on the blade speed and nominal weight;

[0009] Based on the detected climb rate and theoretical climb acceleration, the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at multiple detection moments are obtained.

[0010] The model of the multirotor aircraft and the model of the rotor blades installed on the multirotor aircraft are determined based on the theoretical climb rate and the disturbed climb acceleration.

[0011] In one embodiment of this disclosure, determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbed climb acceleration includes:

[0012] If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, then the model of the multirotor aircraft is determined to match the model of the rotor blades installed on the multirotor aircraft.

[0013] In one embodiment of this disclosure, the method further includes:

[0014] Based on the blade rotation speed detected at multiple detection moments of the multirotor aircraft and the thrust coefficient of the blades matching the model of the multirotor aircraft, the theoretical blade thrust of the multirotor aircraft at multiple detection moments is obtained.

[0015] The theoretical weight of the multirotor aircraft is obtained based on the theoretical blade thrust at multiple test moments.

[0016] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection moments is less than or equal to a preset climb rate difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection moments is less than or equal to a preset disturbance climb acceleration threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including:

[0017] If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

[0018] In one embodiment of this disclosure, the method further includes:

[0019] Obtain the angular velocity detected by the multi-rotor aircraft at multiple detection moments;

[0020] Based on the angular velocities detected by the multirotor aircraft at multiple detection moments, the vibration amplitude of the multirotor aircraft in the 5Hz-20Hz frequency band at multiple detection moments is obtained;

[0021] Obtain the mean and standard deviation of the vibration amplitude;

[0022] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection moments is less than or equal to a preset climb rate difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection moments is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including:

[0023] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection times is less than or equal to a preset climb rate difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, the average vibration amplitude belongs to a preset vibration amplitude average range, and the standard deviation of the vibration amplitude belongs to a preset vibration amplitude standard deviation range, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

[0024] In one embodiment of this disclosure, the method further includes:

[0025] If it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, an error message indicating that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft will be output.

[0026] In one embodiment of this disclosure, determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at multiple detection moments includes:

[0027] The theoretical climb rate and the disturbed climb acceleration are sent to the blade detection end. The blade detection end is used to obtain the model of the multi-rotor aircraft, determine the pre-trained blade detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climb rate and the disturbed climb acceleration, input the theoretical climb rate and the disturbed climb acceleration into the blade detection model, obtain the blade detection results output by the blade detection model, and send the blade detection results.

[0028] Receive the blade inspection results and determine whether the model of the multirotor aircraft matches the model of the blades installed on the multirotor aircraft based on the blade inspection results.

[0029] In one embodiment of this disclosure, the method further includes:

[0030] Based on the blade detection results, determine whether the multi-rotor aircraft is subjected to external drag at multiple detection times, or determine whether the wind speed of the ambient wind in the environment where the multi-rotor aircraft is located is greater than or equal to the preset wind speed threshold at multiple detection times.

[0031] If it is determined that the multirotor aircraft is being dragged by external forces at multiple detection moments, a "Do Not Drag" message will be output to indicate that dragging the multirotor aircraft by external forces is prohibited.

[0032] If it is determined that the wind speed in the environment where the multirotor is located is greater than or equal to a preset wind speed threshold at multiple detection times, then a wind speed warning message is output to indicate that the current ambient wind speed affects the flight safety of the multirotor.

[0033] In one embodiment of this disclosure, the method further includes:

[0034] If it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, the control commands received by the multirotor aircraft are obtained.

[0035] After executing control commands, obtain at least one of the following: expected pitch angle, expected roll angle, expected yaw angle, expected angular velocity, expected blade speed, expected speed, and expected position of the multirotor aircraft.

[0036] 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 angular velocity threshold; the expected blade speed is greater than or equal to a preset blade speed threshold; the expected moving speed is greater than or equal to a preset moving speed threshold; or the distance between the expected position and the takeoff position of the multirotor aircraft is greater than or equal to a preset distance threshold, then the control multirotor aircraft will not execute the control command and will display a prompt message indicating that the control command has not been executed.

[0037] Secondly, this disclosure provides a blade detection device that applies the blade detection method described in the first aspect, including:

[0038] The detection speed acquisition module is configured to acquire the detection climb speed of the multirotor aircraft at multiple detection moments;

[0039] The acceleration acquisition module is configured to acquire the rotor speed detected by the multirotor at multiple detection times if it is determined from the climb speed that the multirotor is in a stable climb state at multiple detection times.

[0040] The theoretical acceleration acquisition module is configured to acquire the nominal weight of the multirotor aircraft and, based on the blade rotation speed and nominal weight, acquire the theoretical climb acceleration of the multirotor aircraft at multiple detection moments.

[0041] The disturbance acceleration acquisition module is configured to acquire the theoretical climb rate and disturbance climb acceleration of the multirotor aircraft at multiple detection moments based on the detected climb rate and theoretical climb acceleration.

[0042] The blade detection module is configured to determine whether the model of the multirotor aircraft matches the model of the blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbance climb acceleration.

[0043] Thirdly, embodiments of this disclosure provide an electronic device including a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method as described in any one of the first aspects.

[0044] Fourthly, this disclosure provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method as described in any one of the first aspects.

[0045] According to the technical solution provided in this disclosure, by acquiring the detected climb speed of the multi-rotor aircraft at multiple detection moments, if it is determined that the multi-rotor aircraft is in a stable climb state at multiple detection moments based on the detected climb speed, the rotor speed of the multi-rotor aircraft detected at multiple detection moments is acquired, the nominal weight of the multi-rotor aircraft is acquired, and the theoretical climb acceleration of the multi-rotor aircraft at multiple detection moments is acquired based on the rotor speed and nominal weight. Based on the detected climb speed and theoretical climb acceleration, the theoretical climb speed and disturbed climb acceleration of the multi-rotor aircraft at multiple detection moments are acquired. Based on the theoretical climb speed and disturbed climb acceleration, it is determined whether the model of the multi-rotor aircraft matches the model of the rotor blades installed on the multi-rotor aircraft. The theoretical climb rate is the climb rate inferred from the detected blade rotation speed, assuming the multirotor is equipped with blades of the same model. The disturbed climb acceleration is the acceleration component in the multirotor's climb acceleration caused by the non-control input factor of the mismatch between the multirotor's model and the blades installed on it. When the multirotor is in a stable climb state, if the multirotor is equipped with blades of the same model, the theoretical climb rate approaches the detected climb rate, and the disturbed climb acceleration approaches zero. Therefore, if the theoretical climb rate and the detected climb rate of the multirotor are similar, and the absolute value of the disturbance climb acceleration is also small, it is assumed that the multirotor is equipped with a rotor blade of the same model, and no further reminder is needed to the operator. Conversely, if the theoretical climb rate and the detected climb rate are significantly different, or the absolute value of the disturbance climb acceleration is large, it is assumed that the multirotor is not equipped with a rotor blade of the same model, and the operator should be reminded to replace the rotor blade to avoid the drone going out of control and crashing, thus improving the user experience.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0047] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0048] Figure 1 A flowchart illustrating a blade detection method according to an embodiment of the present disclosure is shown.

[0049] Figure 2 A structural block diagram of a blade detection device according to an embodiment of the present disclosure is shown.

[0050] Figure 3 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0051] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown. Detailed Implementation

[0052] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0053] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0054] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] In this disclosure, any operation involving the acquisition of user information or user data, or the display of user information or user data to others, is an operation authorized or confirmed by the user, or actively selected by the user.

[0056] In related technologies, some multirotor operators may install the wrong type of rotor blades on their multirotors before use, meaning the blade type is incompatible with the multirotor model. Since different blade types produce different thrust at the same rotational speed, when the multirotor controls the motor based on the designed control parameters to drive the blades, the actual power output of the blades may not match the designed power output. This can cause the multirotor to be unable to perform corresponding actions or change its attitude based on control signals, easily leading to loss of control and crash.

[0057] In one embodiment, a control terminal (such as a mobile phone or remote control) can send a corresponding blade detection command to the multirotor aircraft. The multirotor aircraft then uses corresponding sensors (such as Hall effect sensors) to detect whether blades are installed on its motor rotor. If no blades are installed, a prompt signal indicating that blades are not installed is displayed on the control terminal. However, this solution can only detect whether the multirotor aircraft has blades installed; it cannot determine whether the model of the blades installed on the multirotor aircraft matches the model of the multirotor aircraft.

[0058] To address the aforementioned problems, this disclosure provides a blade detection method, apparatus, equipment, and medium.

[0059] Figure 1 A flowchart illustrating a blade detection method according to an embodiment of the present disclosure is shown. The blade detection method is applied to a multirotor aircraft or a terminal matched with a multirotor aircraft, wherein the terminal can be a smart device with multirotor aircraft control functions, such as a smartphone, computer, tablet computer, vehicle-mounted equipment, wearable device, etc.

[0060] like Figure 1 As shown, the blade detection method includes the following steps:

[0061] In step S101, the detection climb speed of the multi-rotor aircraft at multiple detection moments is obtained.

[0062] In one implementation of this disclosure, the detection climb velocity of a multirotor aircraft at multiple detection moments can be obtained by periodically acquiring information such as the multirotor's position, velocity, and time using a Global Navigation Satellite System (GNSS) module mounted on the multirotor, and determining the detection climb velocity of the multirotor at multiple detection moments based on the information acquired by the GNSS module. Alternatively, video can be acquired using an image acquisition device mounted on the multirotor, and the movement velocity of the multirotor at the corresponding detection moment can be inferred based on the displacement of feature points (such as ground textures, edges, spots, etc.) in multiple consecutive frames of the acquired video.

[0063] In step S102, if it is determined that the multirotor aircraft is in a stable climbing state at multiple detection times based on the detected climb speed, then the rotor speed detected by the multirotor aircraft at multiple detection times is obtained.

[0064] In one implementation of this disclosure, the multi-rotor aircraft is in a stable climb state at multiple detection moments. This can be understood as the speed difference between any two detected climb speeds detected by the multi-rotor aircraft at multiple detection moments being less than or equal to a stable climb speed difference threshold. Alternatively, it can be understood as the speed difference between the detected climb speed at any one detection moment and the climb speed corresponding to the control command currently received by the multi-rotor aircraft being less than or equal to the stable climb speed difference threshold.

[0065] In one implementation of this disclosure, obtaining the blade rotation speed detected by the multirotor aircraft at multiple detection moments can be understood as obtaining the motor rotation speed based on a Hall sensor installed inside the motor on the multirotor aircraft, which is the blade rotation speed of the blades installed on the motor. Alternatively, it can be understood as obtaining the pulse width modulation signal output by the multirotor aircraft's flight control system to the motor, and estimating the motor rotation speed based on the duty cycle of the pulse width modulation signal, which is the blade rotation speed of the blades installed on the motor.

[0066] In step S103, the nominal weight of the multi-rotor aircraft is obtained, and the theoretical climb acceleration of the multi-rotor aircraft at multiple detection moments is obtained based on the blade rotation speed and the nominal weight.

[0067] In one implementation of this disclosure, obtaining the nominal weight of a multi-rotor aircraft can be understood as reading the pre-stored nominal weight of the multi-rotor aircraft, or as sending the model of the multi-rotor aircraft to a nominal weight query server and receiving the nominal weight of the multi-rotor aircraft returned by the nominal weight query server.

[0068] In one implementation of this disclosure, the theoretical climb acceleration of the multirotor aircraft at multiple detection moments is obtained based on the blade rotation speed and nominal weight. This can be understood as substituting the blade rotation speed and nominal weight into a pre-set algorithm that matches the model of the multirotor aircraft to calculate the theoretical climb acceleration. Alternatively, the blade rotation speed and nominal weight can be used as inputs and input into a pre-trained model that matches the model of the multirotor aircraft to obtain the theoretical climb acceleration output by the model.

[0069] For example, the theoretical blade thrust of the multirotor aircraft at multiple testing moments can be calculated based on the blade rotation speeds detected at multiple testing moments and the thrust coefficient of blades matching the model of the multirotor aircraft. The theoretical climb acceleration of the multirotor aircraft at multiple testing moments can then be obtained based on the theoretical blade thrust and nominal weight.

[0070] In step S104, the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at multiple detection moments are obtained based on the detected climb rate and theoretical climb acceleration.

[0071] In one implementation of this disclosure, the theoretical climb rate can be understood as the climb rate calculated based on the blade thrust inferred from the detected blade rotation speed, combined with the nominal weight of the multirotor aircraft, assuming that blades of the same model are installed on the multirotor. The disturbed climb acceleration is the acceleration component in the climb acceleration of the multirotor aircraft caused by the non-control input factor of the mismatch between the model of the multirotor aircraft and the model of the blades installed on it.

[0072] In one implementation of this disclosure, obtaining the theoretical climb velocity and disturbed climb acceleration of the multirotor aircraft at multiple detection moments based on the detected climb velocity and theoretical climb acceleration can be understood as substituting the detected climb velocity and theoretical climb acceleration of the multirotor aircraft at multiple detection moments into a pre-acquired algorithm for calculation, thereby obtaining the theoretical climb velocity and disturbed climb acceleration of the multirotor aircraft at multiple detection moments. Alternatively, it can be understood as using a pre-trained climb acceleration model, taking the detected climb velocity and theoretical climb acceleration of the multirotor aircraft at multiple detection moments as input, and inputting the climb acceleration model to obtain the theoretical climb velocity and disturbed climb acceleration of the multirotor aircraft at multiple detection moments output by the climb acceleration model.

[0073] In step S105, the model of the multi-rotor aircraft and the model of the rotor blades installed on the multi-rotor aircraft are determined based on the theoretical climb rate and the disturbance climb acceleration.

[0074] In one implementation of this disclosure, determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on it based on the theoretical climb rate and the disturbed climb acceleration can be understood as follows: if the difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft is small, and the absolute value of the disturbed climb acceleration of the multirotor aircraft is also small, then it is considered that the multirotor aircraft has rotor blades of a matching model installed on it. Conversely, if the difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft is large, or the absolute value of the disturbed climb acceleration of the multirotor aircraft is large, then it is considered that the multirotor aircraft has not installed rotor blades of a matching model installed on it.

[0075] Conversely, if the theoretical climb rate and the detected climb rate of the multirotor are relatively close, and the absolute value of the disturbance climb acceleration of the multirotor is also relatively small, then it is assumed that the multirotor is equipped with rotor blades of a matching model.

[0076] In one embodiment of this disclosure, determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbed climb acceleration includes:

[0077] If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, then the model of the multirotor aircraft is determined to match the model of the rotor blades installed on the multirotor aircraft.

[0078] Conversely, if the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection moments is greater than a preset climb rate difference threshold, or if the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection moments is greater than a preset disturbance climb acceleration threshold, then it is considered that the multirotor aircraft is not equipped with rotor blades of a matching model. The absence of rotor blades of a matching model on the multirotor aircraft includes: rotor blades of a model that does not match the model of the multirotor aircraft being installed; and rotor blades of a model that matches the model of the multirotor aircraft being installed, but which are damaged.

[0079] The absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection moments can be obtained by calculating the difference between the theoretical climb speed and the detected climb speed at each detection moment, then calculating the average of the differences at multiple detection moments, and finally calculating the absolute value of the average.

[0080] According to the technical solution provided in this disclosure, by acquiring the detected climb speed of a multi-rotor aircraft at multiple detection moments, if it is determined that the multi-rotor aircraft is in a stable climb state at multiple detection moments based on the detected climb speed, the rotor speed of the multi-rotor aircraft detected at multiple detection moments is acquired, the nominal weight of the multi-rotor aircraft is acquired, and the theoretical climb acceleration of the multi-rotor aircraft at multiple detection moments is acquired based on the rotor speed and nominal weight. Based on the detected climb speed and theoretical climb acceleration, the theoretical climb speed and disturbed climb acceleration of the multi-rotor aircraft at multiple detection moments are acquired. Based on the theoretical climb speed and disturbed climb acceleration, it is determined whether the model of the multi-rotor aircraft matches the model of the rotor blades installed on the multi-rotor aircraft. The theoretical climb speed is the climb speed inferred based on the detected rotor speed, assuming that rotor blades of a matching model are installed on the multi-rotor aircraft. The disturbed climb acceleration is the acceleration component of a multirotor aircraft's climb acceleration caused by the non-control input factor of a mismatch between the multirotor's model and the model of the rotor blades installed on it. When the multirotor is in a stable climb state, if the multirotor is equipped with rotor blades of the matching model, its theoretical climb rate will approach the detected climb rate, and its disturbed climb acceleration will approach zero. Therefore, if the difference between the multirotor's theoretical climb rate and the detected climb rate is small, and the absolute value of the disturbed climb acceleration is also small, it is assumed that the multirotor is equipped with rotor blades of the matching model, and no further notification to the multirotor operator is required. Conversely, if the theoretical climb speed of the multi-rotor aircraft differs significantly from the detected climb speed, or if the absolute value of the disturbance climb acceleration of the multi-rotor aircraft is large, it is assumed that the multi-rotor aircraft is not equipped with rotor blades of the same model. This serves as a reminder to the multi-rotor aircraft operator to replace the rotor blades, thereby preventing the drone from going out of control and crashing, and improving the user experience.

[0081] In one embodiment of this disclosure, the method further includes:

[0082] Based on the blade rotation speed detected at multiple detection moments of the multirotor aircraft and the thrust coefficient of the blades matching the model of the multirotor aircraft, the theoretical blade thrust of the multirotor aircraft at multiple detection moments is obtained.

[0083] The theoretical weight of the multirotor aircraft is obtained based on the theoretical blade thrust at multiple test moments.

[0084] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection moments is less than or equal to a preset climb rate difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection moments is less than or equal to a preset disturbance climb acceleration threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including:

[0085] If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

[0086] According to the technical solution provided in this disclosure, the theoretical blade thrust of the multirotor aircraft is obtained based on the blade rotation speed detected at multiple detection times. The theoretical weight of the multirotor aircraft is then obtained based on the theoretical blade thrust at these multiple detection times. If the difference between the theoretical weight and the nominal weight of the multirotor aircraft is too large, it can be determined that the theoretical blade thrust used to calculate the theoretical weight is inaccurate. Since the theoretical blade thrust is calculated based on the blade rotation speed and the thrust coefficient of blades whose models match the model of the multirotor aircraft, and considering the high accuracy of blade rotation speed, it can be assumed that the probability of the blade model installed on the multirotor aircraft not matching the model of the multirotor aircraft is relatively high in this situation. Therefore, by determining the matching between the model of the multirotor aircraft and the model of the rotor blades installed on the multirotor aircraft when the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, the accuracy of determining the matching between the model of the multirotor aircraft and the model of the rotor blades installed on the multirotor aircraft can be improved.

[0087] In one embodiment of this disclosure, the method further includes:

[0088] Obtain the angular velocity detected by the multi-rotor aircraft at multiple detection moments.

[0089] Based on the angular velocities detected by the multirotor aircraft at multiple detection times, the vibration amplitude of the multirotor aircraft in the 5Hz-20Hz frequency band at multiple detection times is obtained.

[0090] Obtain the mean and standard deviation of the vibration amplitude.

[0091] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection moments is less than or equal to a preset climb rate difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection moments is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including:

[0092] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection times is less than or equal to a preset climb rate difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, the average vibration amplitude belongs to a preset vibration amplitude average range, and the standard deviation of the vibration amplitude belongs to a preset vibration amplitude standard deviation range, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

[0093] According to the technical solution provided in this disclosure, when the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, the mean value of the vibration amplitude of the multirotor aircraft in the 5Hz-20Hz frequency band will deviate significantly from the preset mean vibration amplitude range, and the standard deviation of the vibration amplitude of the multirotor aircraft in the 5Hz-20Hz frequency band will also deviate significantly from the preset standard deviation range. Therefore, by ensuring that the absolute value of the mean difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection moments is less than or equal to a preset climb speed difference threshold, the multirotor aircraft... When the absolute value of the mean of the disturbance climb acceleration at multiple detection times is less than or equal to the preset disturbance climb acceleration threshold, the weight difference between the theoretical weight and the nominal weight of the multirotor is less than or equal to the preset weight difference threshold, the mean of the vibration amplitude belongs to the preset vibration amplitude mean range, and the standard deviation of the vibration amplitude belongs to the preset vibration amplitude standard deviation range, the model of the multirotor and the model of the rotor blades installed on the multirotor are matched, which can further improve the accuracy of matching the model of the multirotor and the model of the rotor blades installed on the multirotor.

[0094] In one embodiment of this disclosure, the method further includes:

[0095] If it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, an error message indicating that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft will be output.

[0096] In one implementation of this disclosure, the propeller installation error message can be displayed via a terminal compatible with the multirotor aircraft. For example, a corresponding audio prompt can be played through a speaker on the terminal, or a video, image, or text corresponding to the propeller installation error message can be displayed on a screen on the terminal. Alternatively, the message can also be displayed via the multirotor aircraft itself. For example, a corresponding audio prompt can be played through a speaker on the multirotor aircraft, or lights on the multirotor aircraft can flash at a frequency corresponding to the propeller installation error message.

[0097] According to the technical solution provided in this disclosure, when it is determined that the model of the multi-rotor aircraft does not match the model of the rotor blades installed on the multi-rotor aircraft, an error message indicating that the model of the multi-rotor aircraft does not match the model of the rotor blades installed on the multi-rotor aircraft is output. This can promptly remind the user to replace the rotor blades, avoid the multi-rotor aircraft from going out of control and being damaged, thereby improving the user experience.

[0098] In one embodiment of this disclosure, determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at multiple detection moments includes:

[0099] The theoretical climb rate and the disturbed climb acceleration are sent to the blade detection terminal. The blade detection terminal is used to obtain the model of the multi-rotor aircraft, determine the pre-trained blade detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climb rate and the disturbed climb acceleration, input the theoretical climb rate and the disturbed climb acceleration into the blade detection model, obtain the blade detection results output by the blade detection model, and send the blade detection results.

[0100] Receive the blade inspection results and determine whether the model of the multirotor aircraft matches the model of the blades installed on the multirotor aircraft based on the blade inspection results.

[0101] In one implementation of this disclosure, the blade detection model can be pre-stored in the blade detection terminal or obtained by the blade detection terminal from other devices or systems. The blade detection model can be a neural network (NN) model, a convolutional neural network (CNN) model, or a long short-term memory (LSTM) model, etc.

[0102] According to the technical solution provided in this disclosure, by sending the theoretical climb speed and the disturbed climb acceleration to the blade detection end and receiving the blade detection results returned by the blade detection end, the model of the multi-rotor aircraft and the model of the blades installed on the multi-rotor aircraft are determined based on the blade detection results. The blade detection end is used to obtain the model of the multi-rotor aircraft, determine the pre-trained blade detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climb speed and the disturbed climb acceleration, and input the theoretical climb speed and the disturbed climb acceleration into the blade detection model to obtain the blade detection results output by the blade detection model. The accuracy of the blade detection results is high. Therefore, this solution can improve the accuracy of determining whether the model of the multi-rotor aircraft and the model of the blades installed on the multi-rotor aircraft match.

[0103] In one embodiment of this disclosure, the method further includes:

[0104] Based on the blade detection results, determine whether the multirotor aircraft is subjected to external drag at multiple detection times, or determine whether the wind speed of the ambient wind in the environment where the multirotor aircraft is located is greater than or equal to a preset wind speed threshold at multiple detection times.

[0105] If it is determined that the multirotor aircraft is being dragged by external forces at multiple detection times, a "Do Not Drag" message will be output to indicate that dragging the multirotor aircraft by external forces is prohibited.

[0106] If it is determined that the wind speed in the environment where the multirotor is located is greater than or equal to a preset wind speed threshold at multiple detection times, then a wind speed warning message is output to indicate that the current ambient wind speed affects the flight safety of the multirotor.

[0107] In one implementation of this disclosure, the "Do Not Drag" warning message and wind speed warning message can be displayed through a terminal compatible with the multi-rotor aircraft. For example, the terminal can play a corresponding audio prompt through its speaker, or display a video, image, or text message corresponding to the warning message on its screen. Alternatively, the warning message can also be displayed through the multi-rotor aircraft itself. For example, the multi-rotor aircraft can play a corresponding audio prompt through its speaker, or its lights can flash at a frequency corresponding to the warning message.

[0108] According to the technical solution provided in this disclosure, the system determines whether a multi-rotor aircraft is being dragged by an external force at multiple detection moments based on the propeller detection results, or whether the wind speed in the environment where the multi-rotor aircraft is located at multiple detection moments is greater than or equal to a preset wind speed threshold based on the propeller detection results. If it is determined that the multi-rotor aircraft is being dragged by an external force at multiple detection moments, a "No Dragging" warning message is output to indicate that dragging the multi-rotor aircraft by external force is prohibited. If it is determined that the wind speed in the environment where the multi-rotor aircraft is located at multiple detection moments is greater than or equal to a preset wind speed threshold, a wind speed warning message is output to indicate that the current wind speed affects the flight safety of the multi-rotor aircraft. This facilitates reminding users not to drag the multi-rotor aircraft by external force when it is being dragged by an external force, or reminding users to pay attention to the wind when the multi-rotor aircraft is affected by excessively high wind speeds, thus preventing the multi-rotor aircraft from going out of control and being damaged, thereby improving the user experience.

[0109] In one embodiment of this disclosure, the method further includes:

[0110] If it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, the control commands received by the multirotor aircraft are retrieved.

[0111] After executing control commands, obtain at least one of the following: expected pitch angle, expected roll angle, expected yaw angle, expected angular velocity, expected blade speed, expected speed, and expected position of the multirotor aircraft.

[0112] 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 angular velocity threshold; the expected blade speed is greater than or equal to a preset blade speed threshold; the expected moving speed is greater than or equal to a preset moving speed threshold; or the distance between the expected position and the takeoff position of the multirotor aircraft is greater than or equal to a preset distance threshold, then the control multirotor aircraft will not execute the control command and will display a prompt message indicating that the control command has not been executed.

[0113] According to the technical solution provided in this disclosure, if it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, the control commands received by the multirotor aircraft are obtained. At least one of the following is obtained after the control commands are executed: the expected pitch angle, expected roll angle, expected yaw angle, expected angular velocity, expected rotor speed, expected speed, and expected position of the multirotor aircraft. 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 angular velocity threshold; the expected blade speed is greater than or equal to a preset blade speed threshold; the expected moving speed is greater than or equal to a preset moving speed threshold; or the distance between the expected position and the takeoff position of the multirotor aircraft is greater than or equal to a preset distance threshold, then it can be considered that the multirotor aircraft will perform actions that are likely to cause the multirotor aircraft to lose control after executing the control command, or be in an attitude that is likely to cause the multirotor aircraft to lose control. Therefore, by controlling the multirotor aircraft not to execute the control command and displaying a prompt message to indicate that the control command has not been executed, the loss of control and damage of the multirotor aircraft can be avoided, thus improving the user experience.

[0114] Figure 2 A structural block diagram of a blade detection device according to an embodiment of the present disclosure is shown. The blade detection device applies the blade detection method described in the embodiments of the present disclosure, and the device can be implemented as part or all of an electronic device through software, hardware, or a combination of both.

[0115] like Figure 2 As shown, the blade detection device 200 includes:

[0116] The detection speed acquisition module 201 is configured to acquire the detection climb speed detected by the multi-rotor aircraft at multiple detection moments.

[0117] The acceleration acquisition module 202 is configured to acquire the rotor speed detected by the multirotor at multiple detection times if it is determined from the climb speed that the multirotor is in a stable climb state at multiple detection times.

[0118] The theoretical acceleration acquisition module 203 is configured to acquire the nominal weight of the multirotor aircraft and acquire the theoretical climb acceleration of the multirotor aircraft at multiple detection moments based on the blade rotation speed and the nominal weight.

[0119] The disturbance acceleration acquisition module 204 is configured to acquire the theoretical climb rate and disturbance climb acceleration of the multirotor aircraft at multiple detection moments based on the detected climb rate and theoretical climb acceleration.

[0120] The blade detection module 205 is configured to determine whether the model of the multirotor aircraft matches the model of the blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbance climb acceleration.

[0121] According to the technical solution provided in this disclosure, by acquiring the detected climb speed of a multi-rotor aircraft at multiple detection moments, if it is determined that the multi-rotor aircraft is in a stable climb state at multiple detection moments based on the detected climb speed, the rotor speed of the multi-rotor aircraft detected at multiple detection moments is acquired, the nominal weight of the multi-rotor aircraft is acquired, and the theoretical climb acceleration of the multi-rotor aircraft at multiple detection moments is acquired based on the rotor speed and nominal weight. Based on the detected climb speed and theoretical climb acceleration, the theoretical climb speed and disturbed climb acceleration of the multi-rotor aircraft at multiple detection moments are acquired. Based on the theoretical climb speed and disturbed climb acceleration, it is determined whether the model of the multi-rotor aircraft matches the model of the rotor blades installed on the multi-rotor aircraft. The theoretical climb speed is the climb speed inferred based on the detected rotor speed, assuming that rotor blades of a matching model are installed on the multi-rotor aircraft. The disturbed climb acceleration is the acceleration component of a multirotor aircraft's climb acceleration caused by the non-control input factor of a mismatch between the multirotor's model and the model of the rotor blades installed on it. When the multirotor is in a stable climb state, if the multirotor is equipped with rotor blades of the matching model, its theoretical climb rate will approach the detected climb rate, and its disturbed climb acceleration will approach zero. Therefore, if the difference between the multirotor's theoretical climb rate and the detected climb rate is small, and the absolute value of the disturbed climb acceleration is also small, it is assumed that the multirotor is equipped with rotor blades of the matching model, and no further notification to the multirotor operator is required. Conversely, if the theoretical climb rate of the multi-rotor aircraft differs significantly from the detected climb rate, or if the absolute value of the disturbance climb acceleration of the multi-rotor aircraft is large, it is assumed that the multi-rotor aircraft is not equipped with rotor blades of the same model, thus avoiding the drone from going out of control and crashing, and improving the user experience.

[0122] This 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.

[0123] like Figure 3 As shown, the electronic device includes a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to embodiments of the present disclosure.

[0124] This disclosure provides a blade detection method, including:

[0125] Obtain the detection climb rate of the multi-rotor aircraft at multiple detection moments.

[0126] If the multirotor aircraft is determined to be in a stable climbing state at multiple detection times based on the detected climb speed, then the rotor speed detected by the multirotor aircraft at multiple detection times is obtained.

[0127] Obtain the nominal weight of the multirotor aircraft, and based on the blade speed and nominal weight, obtain the theoretical climb acceleration of the multirotor aircraft at multiple test moments.

[0128] Based on the detected climb rate and theoretical climb acceleration, the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at multiple detection moments are obtained.

[0129] The model of the multirotor aircraft and the model of the rotor blades installed on the multirotor aircraft are determined based on the theoretical climb rate and the disturbed climb acceleration.

[0130] In one embodiment of this disclosure, the multirotor aircraft takes off at the first of a plurality of detection times;

[0131] Based on the detected climb rate and theoretical climb acceleration, the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at multiple detection moments are obtained, including:

[0132] The theoretical climb velocity and the disturbed climb acceleration are both 0 at the first detection moment;

[0133] based on Obtain the theoretical climb rate value for any detection time other than the first detection time among multiple detection times. ,based on Obtain the value of the perturbation climb acceleration at any detection time. , Let be the theoretical climb rate value of the previous detection time for any given detection time. This represents the time difference between any two detection times out of multiple detection times. Let be the value of the detection climb rate detected at any given detection time. Let be the theoretical climb acceleration value at any given detection time. The value of the disturbance climb acceleration is the value of the previous detection time for any given detection time. and all These are preset theoretical speed parameters, where the units for theoretical climb speed and detected climb speed are... The units for disturbed climb acceleration and theoretical climb acceleration are . The unit of time difference is .

[0134] In one embodiment of this disclosure, determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbed climb acceleration includes:

[0135] If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, then the model of the multirotor aircraft is determined to match the model of the rotor blades installed on the multirotor aircraft.

[0136] In one embodiment of this disclosure, the method further includes:

[0137] Based on the blade rotation speed detected at multiple detection moments of the multirotor aircraft and the thrust coefficient of the blades matching the model of the multirotor aircraft, the theoretical blade thrust of the multirotor aircraft at multiple detection moments is obtained.

[0138] The theoretical weight of the multirotor aircraft is obtained based on the theoretical blade thrust at multiple test moments.

[0139] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection moments is less than or equal to a preset climb rate difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection moments is less than or equal to a preset disturbance climb acceleration threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including:

[0140] If the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at multiple detection times is less than or equal to a preset climb speed difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

[0141] In one embodiment of this disclosure, the method further includes:

[0142] Obtain the angular velocity detected by the multi-rotor aircraft at multiple detection moments.

[0143] Based on the angular velocities detected by the multirotor aircraft at multiple detection times, the vibration amplitude of the multirotor aircraft in the 5 Hz-20 Hz frequency band at multiple detection times is obtained.

[0144] Obtain the mean and standard deviation of the vibration amplitude.

[0145] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection moments is less than or equal to a preset climb rate difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection moments is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including:

[0146] If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection times is less than or equal to a preset climb rate difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, the average vibration amplitude belongs to a preset vibration amplitude average range, and the standard deviation of the vibration amplitude belongs to a preset vibration amplitude standard deviation range, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

[0147] In one embodiment of this disclosure, the method further includes:

[0148] If it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, an error message indicating that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft will be output.

[0149] In one embodiment of this disclosure, determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at multiple detection moments includes:

[0150] The theoretical climb rate and the disturbed climb acceleration are sent to the blade detection terminal. The blade detection terminal is used to obtain the model of the multi-rotor aircraft, determine the pre-trained blade detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climb rate and the disturbed climb acceleration, input the theoretical climb rate and the disturbed climb acceleration into the blade detection model, obtain the blade detection results output by the blade detection model, and send the blade detection results.

[0151] Receive the blade inspection results and determine whether the model of the multirotor aircraft matches the model of the blades installed on the multirotor aircraft based on the blade inspection results.

[0152] In one embodiment of this disclosure, the method further includes:

[0153] Based on the blade detection results, determine whether the multirotor aircraft is subjected to external drag at multiple detection times, or determine whether the wind speed of the ambient wind in the environment where the multirotor aircraft is located is greater than or equal to a preset wind speed threshold at multiple detection times.

[0154] If it is determined that the multirotor aircraft is being dragged by external forces at multiple detection times, a "Do Not Drag" message will be output to indicate that dragging the multirotor aircraft by external forces is prohibited.

[0155] If it is determined that the wind speed in the environment where the multirotor is located is greater than or equal to a preset wind speed threshold at multiple detection times, then a wind speed warning message is output to indicate that the current ambient wind speed affects the flight safety of the multirotor.

[0156] In one embodiment of this disclosure, the method further includes:

[0157] If it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, the control commands received by the multirotor aircraft are retrieved.

[0158] After executing control commands, obtain at least one of the following: expected pitch angle, expected roll angle, expected yaw angle, expected angular velocity, expected blade speed, expected speed, and expected position of the multirotor aircraft.

[0159] 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 angular velocity threshold; the expected blade speed is greater than or equal to a preset blade speed threshold; the expected moving speed is greater than or equal to a preset moving speed threshold; or the distance between the expected position and the takeoff position of the multirotor aircraft is greater than or equal to a preset distance threshold, then the control multirotor aircraft will not execute the control command and will display a prompt message indicating that the control command has not been executed.

[0160] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown.

[0161] like Figure 4 As shown, the computer system includes a processing unit that can execute various methods described above based on a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM). The RAM also stores various programs and data required for the operation of the computer system. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0162] The following components are connected to the I / O interface: input sections including keyboards, mice, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard disks; and communication sections including network interface cards such as LAN cards and modems. The communication sections perform communication processes via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as needed. The processing unit can be implemented as a CPU, GPU, TPU, FPGA, NPU, etc.

[0163] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium.

[0164] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0165] The units or modules described in the embodiments of this disclosure can be implemented in software or programmable hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0166] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system described above. It may also be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs that are used by one or more processors to perform the methods described in this disclosure.

[0167] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A method for detecting blades, characterized in that, include: Obtain the detected climb velocity of the multi-rotor aircraft at multiple detection moments; If the multirotor aircraft is determined to be in a stable climbing state at the multiple detection times based on the detected climb speed, then the rotor speed detected by the multirotor aircraft at the multiple detection times is obtained; The nominal weight of the multirotor aircraft is obtained, and the theoretical climb acceleration of the multirotor aircraft at the multiple detection times is obtained based on the blade rotation speed and the nominal weight. Based on the detected climb rate and the theoretical climb acceleration, the theoretical climb rate and disturbed climb acceleration of the multirotor aircraft at the multiple detection times are obtained. Based on the theoretical climb rate and the disturbance climb acceleration, determine whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft; The step of determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbed climb acceleration includes: If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at the multiple detection times is less than or equal to a preset climb speed difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at the multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft. The method further includes: Based on the blade rotation speed detected by the multirotor at multiple detection times and the thrust coefficient of the blades matching the model of the multirotor, the theoretical blade thrust of the multirotor at multiple detection times is obtained. The theoretical weight of the multirotor aircraft is obtained based on the theoretical blade thrust of the multirotor aircraft at the multiple detection times. If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection times is less than or equal to a preset climb rate difference threshold, and the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including: If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at the multiple detection times is less than or equal to a preset climb speed difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at the multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

2. The blade detection method according to claim 1, characterized in that, The method further includes: Obtain the angular velocity detected by the multi-rotor aircraft at the multiple detection times; Based on the angular velocity detected by the multirotor aircraft at the multiple detection times, the vibration amplitude of the multirotor aircraft in the 5Hz-20Hz frequency band at the multiple detection times is obtained; Obtain the mean of the vibration amplitude and the standard deviation of the vibration amplitude; If the absolute value of the average difference between the theoretical climb rate and the detected climb rate of the multirotor aircraft at multiple detection times is less than or equal to a preset climb rate difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, and the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft, including: If the absolute value of the average difference between the theoretical climb speed and the detected climb speed of the multirotor aircraft at the multiple detection times is less than or equal to a preset climb speed difference threshold, the absolute value of the average disturbance climb acceleration of the multirotor aircraft at the multiple detection times is less than or equal to a preset disturbance climb acceleration threshold, the weight difference between the theoretical weight and the nominal weight of the multirotor aircraft is less than or equal to a preset weight difference threshold, the average vibration amplitude belongs to a preset vibration amplitude average range, and the standard deviation of the vibration amplitude belongs to a preset vibration amplitude standard deviation range, then it is determined that the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft.

3. The blade detection method according to claim 1, characterized in that, The method further includes: If it is determined that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft, a rotor blade installation error message will be output to indicate that the model of the multirotor aircraft does not match the model of the rotor blades installed on the multirotor aircraft.

4. The blade detection method according to claim 1, characterized in that, The step of determining whether the model of the multirotor aircraft matches the model of the rotor blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbed climb acceleration includes: The theoretical climb rate and the disturbed climb acceleration are sent to the blade detection terminal, wherein the blade detection terminal is used to obtain the model of the multi-rotor aircraft, determine the pre-trained blade detection model corresponding to the model of the multi-rotor aircraft, receive the theoretical climb rate and the disturbed climb acceleration, input the theoretical climb rate and the disturbed climb acceleration into the blade detection model, obtain the blade detection result output by the blade detection model, and send the blade detection result; The blade detection results are received, and the model of the multi-rotor aircraft is determined based on the blade detection results to determine whether the model of the multi-rotor aircraft matches the model of the blades installed on the multi-rotor aircraft.

5. The blade detection method according to claim 4, characterized in that, The method further includes: Based on the blade detection results, determine whether the multirotor aircraft is subjected to external drag at the multiple detection times, or determine whether the wind speed of the ambient wind in the environment where the multirotor 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 multirotor aircraft is being dragged by an external force at the multiple detection times, a "prohibit dragging" message is output to indicate that dragging the multirotor aircraft by an external force is prohibited. If it is determined that the wind speed in the environment where the multirotor is located is greater than or equal to a preset wind speed threshold at the multiple detection times, then a wind speed warning message is output to indicate that the current wind speed affects the flight safety of the multirotor.

6. The blade detection method according to claim 1, characterized in that, The method further includes: If it is determined that the model of the multi-rotor aircraft does not match the model of the rotor blades installed on the multi-rotor aircraft, the control commands received by the multi-rotor aircraft are obtained. After executing the control command, obtain at least one of the following: expected pitch angle, expected roll angle, expected yaw angle, expected angular velocity, expected blade speed, expected speed, and expected position of the multirotor aircraft. 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 angular velocity threshold; the expected blade speed is greater than or equal to a preset blade speed threshold; the expected moving speed is greater than or equal to a preset moving speed threshold; or the distance between the expected position and the takeoff position of the multirotor aircraft is greater than or equal to a preset distance threshold, then the multirotor aircraft is controlled not to execute the control command, and a prompt message is displayed to indicate that the control command has not been executed.

7. A blade detection device, characterized in that, The blade detection device uses the blade detection method of claim 1, including: The detection speed acquisition module is configured to acquire the detection climb speed of the multirotor aircraft at multiple detection moments; The acceleration acquisition module is configured to acquire the rotor speed detected by the multirotor at the multiple detection times if it is determined from the detected climb speed that the multirotor is in a stable climb state at the multiple detection times. The theoretical acceleration acquisition module is configured to acquire the nominal weight of the multirotor aircraft and acquire the theoretical climb acceleration of the multirotor aircraft at multiple detection times based on the blade rotation speed and the nominal weight. The disturbance acceleration acquisition module is configured to acquire the theoretical climb rate and disturbance climb acceleration of the multirotor aircraft at multiple detection times based on the detected climb rate and the theoretical climb acceleration. The blade detection module is configured to determine whether the model of the multirotor aircraft matches the model of the blades installed on the multirotor aircraft based on the theoretical climb rate and the disturbed climb acceleration.

8. An electronic device, characterized in that, It includes a memory and a processor; wherein the memory is used 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 1-6.

9. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by a processor, the computer instructions implement the method of any one of claims 1-6.

Images