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WO2018094682A1 - Procédé et système de détection de vitesse du vent pour un véhicule aérien sans pilote, et véhicule aérien sans pilote - Google Patents

Procédé et système de détection de vitesse du vent pour un véhicule aérien sans pilote, et véhicule aérien sans pilote Download PDF

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Publication number
WO2018094682A1
WO2018094682A1 PCT/CN2016/107212 CN2016107212W WO2018094682A1 WO 2018094682 A1 WO2018094682 A1 WO 2018094682A1 CN 2016107212 W CN2016107212 W CN 2016107212W WO 2018094682 A1 WO2018094682 A1 WO 2018094682A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
rotational speed
speed
wind
unmanned aerial
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/107212
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English (en)
Chinese (zh)
Inventor
刘万启
蓝求
周长兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2016/107212 priority Critical patent/WO2018094682A1/fr
Priority to CN201680002569.9A priority patent/CN107076775B/zh
Publication of WO2018094682A1 publication Critical patent/WO2018094682A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/02—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer
    • G01P5/06—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer using rotation of vanes
    • G01P5/07—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer using rotation of vanes with electrical coupling to the indicating device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • Embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular, to a wind speed detecting method, system, and an unmanned aerial vehicle of an unmanned aerial vehicle.
  • Aircraft generally work in the air, so the aircraft will be affected by the wind in the air during take-off, flight, and landing. If the wind speed is too large, it will inevitably bring safety hazards to the flight of the aircraft, which will seriously cause the phenomenon of the bomber.
  • Embodiments of the present invention provide a method, a system, and an unmanned aerial vehicle for detecting an air speed of an unmanned aerial vehicle, which are used for testing a wind speed in a current environment of an unmanned aerial vehicle.
  • an embodiment of the present invention provides a wind speed detecting method for an unmanned aerial vehicle, the unmanned aerial vehicle including a propeller and a motor for driving the propeller, the method comprising: acquiring a rotational speed of a motor of the unmanned aerial vehicle The rotation speed is the rotation speed of the motor when the propeller is facing the wind; and determining the wind speed of the current environment of the UAV according to the rotation speed of the motor.
  • the motor is controlled in a sensorless manner.
  • the acquiring the rotation speed of the motor of the UAV includes: detecting an electrical parameter of the motor; and acquiring a rotation speed of the motor according to an electrical parameter of the motor.
  • the electrical parameter is a counter electromotive force.
  • the acquiring the rotation speed of the motor according to the electrical parameter of the motor comprising: acquiring an electrical angular velocity of the motor according to the back electromotive force; and acquiring the electrical power of the motor according to the electrical angular velocity a cycle; obtaining a rotational speed of the motor according to the electrical cycle.
  • the motor is controlled in a sensor mode.
  • the motor is provided with a sensor
  • the obtaining the rotation speed of the motor of the UAV comprises: detecting detection information of the sensor; and acquiring the rotation speed of the motor according to the detection information of the sensor.
  • the detection information is an electrical cycle when the motor rotates.
  • the motor is powered and the motor is not driven.
  • the obtaining the rotation speed of the motor of the UAV comprises: acquiring a maximum rotation speed of the motor when the propeller is facing the wind.
  • the motor is driven to rotate at a preset speed.
  • the acquiring the rotational speed of the motor of the UAV includes: acquiring a first rotational speed and a second rotational speed of the motor, wherein the first rotational speed is that the motor rotates under the influence of the wind The maximum rotational speed, the second rotational speed is a minimum rotational speed of the motor rotating under the influence of the wind; and the average rotational speed of the motor is obtained according to the first rotational speed and the second rotational speed.
  • determining the wind speed of the current environment of the UAV according to the rotation speed of the motor comprising: acquiring a rotation speed of the motor according to a preset model of a preset relationship between the rotation speed and the wind speed
  • the wind speed is the wind speed of the current environment of the unmanned aerial vehicle.
  • the method further includes: displaying the wind speed through a display interface.
  • determining the wind speed of the current environment of the UAV according to the rotation speed of the motor includes: determining whether the wind speed is greater than a preset according to whether the rotation speed of the motor is greater than the preset rotation speed a safe wind speed, wherein the preset speed corresponds to the preset safe wind speed.
  • the method further includes: when the wind speed is greater than a preset safe wind speed, performing an alarm prompt.
  • the alarm prompt is issued by the unmanned aerial vehicle or the remote controller of the unmanned aerial vehicle.
  • an embodiment of the present invention provides a wind speed detecting system for an unmanned aerial vehicle, where the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate.
  • the wind speed detecting system includes: one or more processors, common Working independently or separately, the processor is electrically connected to the motor, and configured to: acquire a rotational speed of a motor of the unmanned aerial vehicle, wherein the rotational speed is a rotational speed of the motor when the propeller is facing the wind; The rotational speed of the motor determines the wind speed of the current environment of the UAV.
  • the motor is controlled in a sensorless manner.
  • the processor is specifically configured to: detect an electrical parameter of the motor, and determine a rotational speed of the motor according to an electrical parameter of the motor.
  • the electrical parameter is a counter electromotive force.
  • the processor is specifically configured to: obtain an electrical angular velocity of the motor according to the back electromotive force; acquire an electrical cycle of the motor according to the electrical angular velocity; and acquire a rotational speed of the motor according to the electrical cycle .
  • control mode of the motor is a sensor mode.
  • the motor is provided with a sensor
  • the processor is specifically configured to detect detection information of the sensor, and acquire a rotation speed of the motor according to the detection information of the sensor.
  • the detection information is an electrical cycle when the motor rotates.
  • the motor is powered and the motor is not driven.
  • the processor is specifically configured to acquire a maximum rotational speed of the motor when the propeller is facing the wind.
  • the motor is driven to rotate at a preset speed.
  • the processor is specifically configured to: acquire a first rotation speed and a second rotation speed of the motor, where the first rotation speed is a maximum rotation speed of the motor rotating under the influence of the wind, The second rotation speed is a minimum rotation speed of the motor rotating under the influence of the wind; and the average rotation speed of the motor is obtained according to the first rotation speed and the second rotation speed.
  • the processor is specifically configured to acquire, according to a preset model of a preset relationship between the rotational speed and the wind speed, a wind speed corresponding to the rotational speed of the motor as a wind speed of a current environment of the unmanned aerial vehicle.
  • the system further includes a display screen communicatively coupled to the processor; the display screen is for displaying information of the wind speed.
  • the processor is specifically configured to determine whether the wind speed is greater than a preset safe wind speed according to whether the rotational speed of the motor is greater than the preset rotational speed, wherein the preset rotational speed and the preset safe wind speed Corresponding.
  • the system further includes an alarm device, wherein the alarm device is communicatively coupled to the processor; and the alarm device is configured to perform an alarm prompt when the wind speed is greater than a preset safe wind speed.
  • the alarm device is disposed on the unmanned aerial vehicle or the remote controller of the unmanned aerial vehicle.
  • an embodiment of the present invention provides an unmanned aerial vehicle including a propeller and a motor that drives the propeller to rotate, and an air speed detecting system of the unmanned aerial vehicle provided by the second aspect of the present invention.
  • the wind speed detecting method, system and unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiments of the present invention, Obtaining a rotational speed of the motor of the unmanned aerial vehicle, wherein the rotational speed is a rotational speed of the motor when the propeller is in the wind; and determining a wind speed of a current environment of the unmanned aerial vehicle according to a rotational speed of the electric motor. Therefore, it is realized that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle taking off when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.
  • FIG. 1 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 1 of the present invention
  • FIG. 2 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 2 of the present invention
  • FIG. 3 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 3 of the present invention
  • FIG. 4 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 4 of the present invention.
  • FIG. 5 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 5 of the present invention.
  • FIG. 6 is a schematic structural diagram of a wind speed detecting system of an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 1 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 1 of the present invention. As shown in FIG. 1 , the method in this embodiment may include:
  • the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate.
  • the wind will drive the propeller to rotate, and the rotation of the propeller causes the rotation of the motor.
  • the wind speed of the wind is larger, and the rotation of the wind driven propeller is faster, and accordingly, the rotational speed of the motor is also larger. Therefore, in this embodiment, the rotational speed of the motor of the unmanned aerial vehicle can be obtained when the propeller of the unmanned aerial vehicle is facing the wind. Since the rotational speed of the motor is affected by the wind speed of the wind, the present embodiment can determine the absence according to the rotational speed of the motor.
  • the motor can be controlled in a sensorless manner.
  • the motor can be controlled in a sensory manner.
  • the rotational speed of the motor of the unmanned aerial vehicle is obtained, wherein the rotational speed is the rotational speed of the motor when the propeller is in the wind; and the wind speed of the current environment of the unmanned aerial vehicle is determined according to the rotational speed of the motor. . Therefore, it is realized that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle taking off when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.
  • FIG. 2 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to a second embodiment of the present invention.
  • the control method of the motor in this embodiment is a sensorless mode.
  • the method in this embodiment may include:
  • the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate.
  • a feasible implementation manner for obtaining the rotational speed of the motor of the unmanned aerial vehicle when the propeller is facing the wind may include S201 and S202.
  • the wind drives the propeller to rotate, and the rotation of the propeller causes the rotation of the motor.
  • the wind speed of the wind is larger, and the rotation of the wind driven propeller is faster, and accordingly, the rotation speed of the motor is higher. Big.
  • the rotation of the motor causes a change in the electrical parameters of the motor. Therefore, in this embodiment, the electrical parameter of the motor when the propeller is facing the wind is detected, and then the rotational speed corresponding to the electrical parameter is obtained according to the electrical parameter of the motor, and the rotational speed of the motor when the propeller is facing the wind.
  • the above electrical parameters may be the back electromotive force of the motor, or the current of the motor.
  • S202 may include: S2021-S2023.
  • the electrical angular velocity of the motor is obtained according to the counter electromotive force of the motor.
  • One implementation manner is: obtaining the electrical angular velocity of the motor according to the back electromotive force of the motor and the formula (1).
  • ⁇ is the back electromotive force of the motor
  • ⁇ is the electrical angular velocity of the motor
  • k is a constant. k is related to the structural parameters of the motor.
  • the embodiment is not limited to obtaining the electrical angular velocity of the motor by using the above formula (1).
  • the electrical cycle of the motor is obtained according to the electrical angular velocity of the motor.
  • one implementation manner is: obtaining the electrical cycle of the motor according to the electrical angular velocity of the motor and the formula (2).
  • ⁇ is an electrical angular velocity
  • T is an electrical cycle
  • the embodiment is not limited to obtaining the electrical cycle of the motor by using the above formula (2).
  • the rotational speed of the motor is obtained according to the electrical cycle of the motor.
  • one implementation manner is: obtaining the rotation speed of the motor according to the electric cycle of the motor and the formula (3).
  • speed represents the rotational speed of the motor, and its unit is Revolutions Per minute (RPM)
  • T is an electrical cycle
  • n is a mechanical pole number.
  • n is related to the number of magnets of the motor and the number of cores of the stator.
  • the embodiment is not limited to obtaining the rotational speed of the motor by using the above formula (3).
  • S203 Determine a wind speed of a current environment of the UAV according to the rotation speed of the motor.
  • the embodiment realizes that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle escaping when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.
  • control mode of the motor in this embodiment is a sensor mode
  • the method in this embodiment may include:
  • the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate.
  • a feasible implementation manner for obtaining the rotational speed of the motor of the unmanned aerial vehicle when the propeller is facing the wind may include S301 and S302.
  • the motor of this embodiment is provided with a sensor, and the sensor of the motor senses the rotation of the motor. Therefore, in this embodiment, the detection information of the sensor is detected, and then the rotation speed corresponding to the detection information is obtained according to the detection information of the sensor, and the rotation speed of the motor when the propeller is facing the wind.
  • the detection information may be an electrical cycle when the motor rotates, or a current, a voltage, or the like when the motor rotates.
  • the embodiment realizes that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle escaping when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.
  • Embodiment 4 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 4 of the present invention. As shown in FIG. 4, the motor of the UAV in the embodiment is powered on, and the motor is not driven.
  • the method of this embodiment may include:
  • S402. Determine a wind speed of a current environment of the UAV according to a maximum rotation speed of the motor.
  • the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate.
  • the motor of the unmanned aerial vehicle has been powered on, indicating that the propeller drives the motor to rotate when the wind driven propeller rotates.
  • the motor is not driven, indicating that the motor speed is 0 in a windless environment, and there is wind.
  • the rotation of the motor in the environment is completely affected by the current wind. Therefore, the present embodiment can acquire the maximum rotational speed of the motor of the unmanned aerial vehicle when the propeller of the unmanned aerial vehicle is facing the wind.
  • the maximum speed of the motor can best reflect the influence of the wind speed of the wind. Therefore, in this embodiment, the wind speed of the current environment of the unmanned aerial vehicle can be determined according to the maximum rotational speed of the motor.
  • the maximum rotational speed of the motor can be obtained using the scheme shown in S201 and S202 in the embodiment shown in FIG. 2.
  • the maximum speed of the motor is obtained by the maximum back electromotive force of the motor.
  • the maximum rotational speed of the motor can be obtained using the scheme shown in S301 and S302 in the embodiment shown in FIG.
  • the maximum speed of the motor is obtained by the maximum electrical cycle of the motor.
  • the embodiment realizes that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle escaping when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.
  • FIG. 5 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 5 of the present invention. As shown in FIG. 5, the motor of the UAV in the embodiment is driven to rotate at a preset speed.
  • the method of this embodiment may include:
  • the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate.
  • the motor of the unmanned aerial vehicle is driven and the motor rotates at a preset speed.
  • the speed of the motor will be the preset speed.
  • the rotation of the motor will be affected by the current downwind, which may increase or decrease. Therefore, in this embodiment, the maximum rotational speed (referred to as the first rotational speed) of the motor under the influence of the wind can be obtained, and the maximum rotational speed is, for example, the rotational speed of the force receiving surface of the propeller against the wind, and the wind accelerates the propeller.
  • the minimum rotational speed (referred to as the second rotational speed) of the motor under the influence of the wind may be acquired, and the minimum rotational speed is, for example, the rotational speed of the back surface of the propeller on the windward side, and the wind acts on the propeller to reduce the speed. .
  • the first rotational speed and the second rotational speed acquire an average rotational speed of the motor to eliminate the influence of the preset rotational speed.
  • the average rotational speed of the motor is one-half of the sum of the first rotational speed and the second rotational speed. In this scenario, the average rotational speed of the motor can best reflect the influence of the wind speed of the wind. Therefore, in this embodiment, the wind speed of the current environment of the unmanned aerial vehicle can be determined according to the average rotational speed of the motor.
  • the first rotational speed and the second rotational speed of the motor may be obtained using the schemes shown in S201 and S202 in the embodiment shown in FIG. 2. Accordingly, the first rotational speed of the motor is obtained by the maximum back electromotive force of the motor, and the second rotational speed of the motor is obtained by the minimum reaction potential of the motor.
  • first rotational speed and the second rotational speed of the motor may be obtained using the schemes shown in S301 and S302 in the embodiment shown in FIG.
  • first rotational speed of the motor is obtained by the maximum electrical cycle of the motor
  • second rotational speed of the electrical machine is obtained by the minimum electrical cycle of the electrical machine.
  • the embodiment realizes that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle escaping when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.
  • a feasible implementation manner of determining the wind speed of the current environment of the UAV according to the rotational speed of the motor is: according to a preset rotational speed and a wind speed.
  • the preset model of the correspondence relationship acquires the wind speed corresponding to the rotational speed of the motor as the wind speed of the current environment of the unmanned aerial vehicle.
  • the embodiment further displays the wind speed through the display interface to notify the user of the wind speed of the current environment, avoiding excessive wind speed and driving the unmanned aerial vehicle to take off, and ensuring flight safety of the unmanned aerial vehicle.
  • a feasible implementation manner of determining the wind speed of the current environment of the UAV according to the rotational speed of the motor is: according to whether the rotational speed of the motor is And determining whether the wind speed is greater than a preset safety wind speed, wherein the preset speed corresponds to the preset safety wind speed.
  • the preset setting has a preset safety wind speed
  • the preset safety wind speed corresponds to a preset rotation speed of the motor, and when the rotation speed of the motor is obtained, determining whether the rotation speed of the motor is greater than the preset rotation speed, when determining the motor
  • the rotation speed is greater than the preset rotation speed
  • it may be determined that the wind speed in the current environment is greater than the preset safety wind speed.
  • it may be determined that the wind speed in the current environment is not greater than the preset safety wind speed.
  • an alarm prompt is performed. To remind the user that the wind speed in the current environment exceeds the safe wind speed.
  • the alarm prompt is issued by the unmanned aerial vehicle or the remote controller of the unmanned aerial vehicle.
  • the unmanned aerial vehicle may issue an alarm prompt to: control the vibration of the motor of the unmanned aerial vehicle, and issue a preset alarm sound; or control the buzzer of the unmanned aerial vehicle to issue a preset alarm sound; or The headlights and/or the taillights of the unmanned aerial vehicle are controlled to emit preset lights.
  • the remote controller of the UAV issues an alarm indication, which may be: controlling an indicator light of the remote controller to emit a preset sound; or controlling a buzzer of the remote controller to emit a preset sound; or , controlling the display screen of the remote controller to display preset information.
  • FIG. 6 is a schematic structural diagram of a wind speed detecting system for an unmanned aerial vehicle according to a first embodiment of the present invention.
  • the unmanned aerial vehicle includes a propeller and a motor for driving the propeller.
  • the system of this embodiment may include: Or a plurality of processors 11 operating in common or separately, the processor 11 being electrically connected to the motor and configured to: acquire a rotational speed of a motor of the unmanned aerial vehicle, wherein the rotational speed is the propeller facing the wind The rotational speed of the motor; determining the wind speed of the current environment of the UAV according to the rotational speed of the motor.
  • the processor 11 can be a controller of an electronic governor or a flight controller of an unmanned aerial vehicle. Of course, the processor 11 can also be a plurality of controllers including an electronic governor and a flight controller of the unmanned aerial vehicle.
  • the motor is controlled in a sensorless manner.
  • the processor 11 is specifically configured to: detect an electrical parameter of the motor, and determine a rotational speed of the motor according to an electrical parameter of the motor.
  • the electrical parameter is a counter electromotive force.
  • the processor 11 is specifically configured to:
  • the rotational speed of the motor is obtained according to the electrical cycle.
  • control mode of the motor is a sensor mode.
  • the motor is provided with a sensor
  • the processor 11 is specifically configured to detect detection information of the sensor, and acquire a rotation speed of the motor according to the detection information of the sensor.
  • the detection information is an electrical cycle when the motor rotates.
  • the motor is powered and the motor is not driven.
  • the processor 11 is specifically configured to acquire a maximum rotational speed of the motor when the propeller is facing the wind.
  • the motor is driven to rotate at a preset speed.
  • the processor 11 is specifically configured to: acquire a first rotation speed and a second rotation speed of the motor, where the first rotation speed is a maximum rotation speed of the motor rotating under the influence of the wind, The second rotational speed is a minimum rotational speed of the motor rotating under the influence of the wind; and the average rotational speed of the motor is obtained according to the first rotational speed and the second rotational speed.
  • the processor 11 is specifically configured to acquire, according to a preset model of a preset relationship between the rotational speed and the wind speed, a wind speed corresponding to the rotational speed of the motor as a wind speed of a current environment of the unmanned aerial vehicle.
  • the system of this embodiment further includes a display screen 12, the display screen 12 is communicatively coupled to the processor 11; and the display screen 12 is configured to display information of the wind speed.
  • the processor 11 is configured to determine whether the wind speed is greater than a preset safe wind speed according to whether the rotational speed of the motor is greater than the preset rotational speed, wherein the preset rotational speed and the preset safety The wind speed corresponds.
  • the system of the embodiment further includes an alarm device 13 , wherein the alarm device 13 is communicatively coupled to the processor 11; the alarm device 13 is configured to perform an alarm prompt when the wind speed is greater than a preset safe wind speed. .
  • the alarm device 13 is disposed on the unmanned aerial vehicle or the remote controller of the unmanned aerial vehicle.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle of the present embodiment includes: a propeller 20 and a motor 30 for driving the propeller 20 to rotate, and a wind speed of the unmanned aerial vehicle.
  • Detection system 40 The wind speed detecting system 40 of the unmanned aerial vehicle can adopt the structure of the embodiment shown in FIG. 6 , and correspondingly, the technical solution of the foregoing method embodiments of the present invention can be executed, and the implementation principle and the technical effect are similar. Narration.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed. Including the steps of the above method embodiments;
  • the storage medium includes: read-only memory (English: Read-Only Memory, ROM for short), random access memory (English: Random Access Memory, RAM for short), disk or optical disk, and other media that can store program code. .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un procédé et un système de détection de vitesse du vent pour un véhicule aérien sans pilote, et un véhicule aérien sans pilote. Le véhicule aérien sans pilote comprend une hélice (20) et un moteur (30) pour entraîner l'hélice en rotation. Le procédé comprend les étapes suivantes : S101, obtenir la vitesse de rotation du moteur (30) du véhicule aérien sans pilote, la vitesse de rotation étant la vitesse de rotation du moteur (30) lorsque l'hélice (20) tourne au vent ; et S102, déterminer la vitesse du vent du véhicule aérien sans pilote dans l'environnement actuel sur la base de la vitesse de rotation du moteur (30). De cette manière, le véhicule aérien sans pilote est utilisé pour déterminer la vitesse du vent dans l'environnement actuel, et le risque de sécurité provoqué par le lancement précipité du véhicule aérien sans pilote lorsque la vitesse du vent est trop rapide est évité, et la sécurité en vol du véhicule aérien sans pilote est garantie.
PCT/CN2016/107212 2016-11-25 2016-11-25 Procédé et système de détection de vitesse du vent pour un véhicule aérien sans pilote, et véhicule aérien sans pilote Ceased WO2018094682A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2016/107212 WO2018094682A1 (fr) 2016-11-25 2016-11-25 Procédé et système de détection de vitesse du vent pour un véhicule aérien sans pilote, et véhicule aérien sans pilote
CN201680002569.9A CN107076775B (zh) 2016-11-25 2016-11-25 无人飞行器的风速检测方法、系统和无人飞行器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/107212 WO2018094682A1 (fr) 2016-11-25 2016-11-25 Procédé et système de détection de vitesse du vent pour un véhicule aérien sans pilote, et véhicule aérien sans pilote

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WO2018094682A1 true WO2018094682A1 (fr) 2018-05-31

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WO2020051757A1 (fr) * 2018-09-11 2020-03-19 深圳市道通智能航空技术有限公司 Procédé et dispositif de calcul de la vitesse du vent, véhicule aérien sans pilote et ensemble véhicule aérien sans pilote
CN111758034B (zh) * 2019-05-31 2022-04-22 深圳市大疆创新科技有限公司 风速确定方法、系统、飞行器及计算机可读存储介质
CN112946314A (zh) * 2019-11-26 2021-06-11 上海峰飞航空科技有限公司 无人飞行器及其空速计
CN115343500B (zh) 2021-05-12 2024-07-26 中光电智能机器人股份有限公司 风速检测系统以及风速检测方法
TWI779602B (zh) * 2021-05-12 2022-10-01 中光電智能機器人股份有限公司 風速檢測系統以及風速檢測方法

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