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WO2018039884A1 - 多旋翼无人机的电调编址方法、用于多旋翼无人机中电调的控制系统、电调、动力系统及多旋翼无人机 - Google Patents

多旋翼无人机的电调编址方法、用于多旋翼无人机中电调的控制系统、电调、动力系统及多旋翼无人机 Download PDF

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Publication number
WO2018039884A1
WO2018039884A1 PCT/CN2016/097218 CN2016097218W WO2018039884A1 WO 2018039884 A1 WO2018039884 A1 WO 2018039884A1 CN 2016097218 W CN2016097218 W CN 2016097218W WO 2018039884 A1 WO2018039884 A1 WO 2018039884A1
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WO
WIPO (PCT)
Prior art keywords
interface
esc
addressing
voltage dividing
flight controller
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/CN2016/097218
Other languages
English (en)
French (fr)
Inventor
蓝求
周长兴
刘万启
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 CN201680002520.3A priority Critical patent/CN106687936B/zh
Priority to PCT/CN2016/097218 priority patent/WO2018039884A1/zh
Publication of WO2018039884A1 publication Critical patent/WO2018039884A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F12/00—Accessing, addressing or allocating within memory systems or architectures
    • G06F12/02—Addressing or allocation; Relocation
    • G06F12/0223—User address space allocation, e.g. contiguous or non contiguous base addressing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/028—Micro-sized aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/08—Aircraft not otherwise provided for having multiple wings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • the invention relates to a multi-rotor unmanned aerial vehicle addressing method, a control system for an electric control in a multi-rotor UAV, an electric control, a power system and a multi-rotor UAV, and belongs to the technical field of manufacturing an unmanned aerial vehicle. .
  • the drone referred to as the UAV, is a non-manned aircraft maneuvered using radio remote control equipment and self-contained program control devices.
  • the multi-rotor drone is currently the most common type of drone, which refers to a drone that includes three or more rotor shafts.
  • Each of the rotor axes of such a multi-rotor UAV is generally controlled by an ESC, so in order for the ESC to accurately respond to the control signals that the flight controller controls, the multiple ESCs are required. Distinguish and number, that is, assign a unique address to each ESC.
  • each ESC is assigned a unique address by separately burning different programs for a plurality of ESCs in the multi-rotor UAV.
  • the four ESCs of a quadrotor drone burn different programs to define the four ESCs as No. 1, No. 2, No. 3, and No. 4, respectively.
  • the invention provides an electric modulation addressing method for a multi-rotor UAV, a control system for an ESC in a multi-rotor UAV, an ESC, a power system and a multi-rotor UAV to solve the prior art The problem of inconvenient assembly or maintenance.
  • a method for electrically addressing a multi-rotor UAV comprising the steps of: configuring an addressing interface for the ESC; acquiring feature information of the addressing interface; The feature information of the addressed interface is the electrical address addressing.
  • a control system for electrical tones in a multi-rotor drone comprising: one or more processors operating separately or collectively, the processor for: obtaining the Addressing the feature information of the interface; addressing the electrical tone according to the feature information of the addressed interface.
  • an electrical tone comprising: a control system and a housing; the control system is mounted within the housing, and the control system includes one or more processors, individually or collectively Working, the processor is configured to: acquire feature information of the addressing interface; and address the electrical tone according to the feature information.
  • a power system comprising: an electric adjustment and a motor; the ESC is in communication connection with the motor for controlling an operating state of the motor; and the ESC includes being mounted in the housing Control system comprising one or more processors operating separately or in combination, the processor being configured to: acquire feature information of the addressed interface; and edit the electrical code according to the feature information site.
  • a multi-rotor UAV including: a rack; a plurality of the above power systems; not disposed on the rack; a flight controller, and an ESC communication with the power system Connecting; wherein the flight controller sends a throttle signal to the ESC, the ESC controlling a rotational speed of the motor according to the throttle signal to provide flight power for the multi-rotor drone.
  • the electronically modulated addressing method of the multi-rotor UAV provided by the present invention, the control system for the ESC in the multi-rotor UAV, the ESC, the power system and the multi-rotor UAV are addressed by coordinating the configuration of the ESC
  • the port and the corresponding ESC are addressed by the acquired feature information of the addressing interface.
  • FIG. 1 is a flowchart of a method for electrically addressing a multi-rotor UAV according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic structural diagram of a control system for an ESC in a multi-rotor UAV provided in connection with a flight controller according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic structural diagram of a control system for an ESC in a multi-rotor UAV provided in connection with a flight controller according to Embodiment 8 of the present invention
  • FIG. 4 is a schematic structural view of a multi-rotor UAV according to Embodiment 21 of the present invention.
  • Multi-rotor UAV 10. Power system;
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller.
  • FIG. 1 is a flowchart of a method for electrically addressing a multi-rotor UAV according to an embodiment of the present invention.
  • the ESC addressing method of this embodiment includes the following steps:
  • the addressing interface can be any interface in the physical sense, such as a connection point of a line to a line, a specific location of a circuit, and an information transmission site.
  • the addressing interface can be an electrical tune to communicate with other components on the drone or a particular location on the power line, or it can be a processor or a communication interface integrated on the processor's microcontroller. That is to say, the addressing interface of this embodiment may be separately provided and connected to the processor; or may be disposed on the ESC processor.
  • all the ESCs of the multi-rotor UAV in this embodiment may be integrated on one circuit board, or may be multiple ESC boards and dispersed in different positions of the UAV frame.
  • the four ESC boards that control the operation of the four rotors can be dispersed in the front, rear, left, and right positions of the rack, or all integrated in a printed circuit board.
  • the printed circuit board can be dedicated to the integration of multi-rotor unmanned electromechanical tuning, or it can be a flight control board for multi-rotor drones.
  • the sign information may be any information of the feature interface, such as voltage information, current information, or power-on time information.
  • the voltage information of the addressing interface can be read by the AD pin in the processor electrically connected to the addressing interface, or the level information of the addressing interface can be obtained by the microcontroller in the processor, or The power-on time information of the feature interface is obtained through a trigger or a timer.
  • the above AD pin, the single chip, the trigger or the timer can also be an electronic component external to the processor.
  • the feature information is preferably at least one of voltage information and power-on time information.
  • the voltage information may be one or more of a magnitude of a voltage, a level of a level, and a sequence.
  • the feature information can be addressed for the electrical tone.
  • the address corresponding to the voltage may be searched in a preset voltage-communication address one-to-one mapping table, and the found address is set to be unique to the ESC.
  • the communication address is such that it can accurately respond to the control of the flight controller in the drone.
  • the voltages obtained from the addressing interfaces of the plurality of ESCs may be sorted by size.
  • the unique communication address corresponding to the ESC is given in the order of large to small or small to large, thereby achieving addressing of the ESC.
  • the electrical coding addressing method may further include:
  • the address of each ESC in the multi-rotor UAV can be monitored by ESC's own processor or an additional monitor. When it is found by comparison that there are two ESCs addressed the same, then ESC is passed.
  • the processor, or flight controller or other alarm device performs an alarm.
  • the flight controller cuts off or electrically switches the supply of the power to the ESC, or directly controls the motor to stop the operation by the ESC, thereby avoiding the drone Damage to the propeller or injury to personnel.
  • the unique communication address can be assigned to the replaced ESC by reading the communication address of the multi-rotor UAV that is not replaced with the ESC, and locking the above communication address.
  • the assigned communication address may be the original communication address of the replaced ESC, or may be an original communication address different from the original ESC being replaced. That is, the addressing method of the multi-rotor UAV of the embodiment may further include: acquiring a communication address of the ESC that has not been replaced, and locking the acquired communication address; and configuring a unique communication address for the replaced ESC.
  • the configuring the unique communication address for the replaced ESC includes: addressing the single ESC replaced in the multi-rotor UAV according to the acquired communication address.
  • the addressing method of the multi-rotor UAV of the embodiment may further include: acquiring a communication address of the unreplaced ESC, and locking the acquired communication address; and configuring a unique communication address for the replaced ESC.
  • the configuring a unique communication address for the replaced ESC includes: configuring an address interface for the replaced ESC; obtaining feature information of the addressed interface; and addressing the replaced ESC according to the feature information.
  • the electronically modulated addressing method of the multi-rotor UAV of the present embodiment addresses the corresponding electrical tones by configuring an addressing interface for the ESC and obtaining the characteristic information of the addressing interface. In this way, in the process of manufacturing the ESC, it is not necessary to address different ESCs by burning different programs, and all the ESCs that are identified by the UAV and addressed to them are simplified, thereby simplifying the ESC. Manufacturing process.
  • addressing the ESC of the multi-rotor UAV by the method breaks the prior art that the ESC programmed with the unique communication address needs to be installed on the UAV at a position uniquely corresponding to the communication address, that is, Breaking the specific correspondence between the multi-rotor unmanned electromechanical adjustment and the installation position, so that any one of the multi-rotor UAVs can be installed in any one of the ESC installation positions without the ESC being able to respond accurately.
  • the problem of man-machine flight controller control This greatly reduces the difficulty of the UAV assembly process or the maintenance process, improves the efficiency of assembly or maintenance, thereby saving costs, and avoids the safety hazard caused by incorrect installation position of the ESC.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller.
  • FIG. 2 is a schematic structural diagram of a control system for an ESC in a multi-rotor UAV provided in connection with a flight controller according to an embodiment of the present invention.
  • the ESC addressing method of this embodiment is an improvement made on the basis of Embodiment 1, which sets the addressing interface 1011 at a preset position of the addressing circuit 1013, and the addressing circuit 1013 is for electrically connecting the flight controller 30 and the ESC of the multi-rotor UAV; acquiring a voltage level of the addressing interface 1011; and addressing the ESC according to the voltage magnitude.
  • the addressing circuit 1013 can be any address addressing interface 1011 that can be provided for the ESC.
  • a circuit that is divided by voltage For example, a circuit in which a single voltage dividing component can be connected in series between the ESC and the flight controller 30, or a circuit in which a series of different voltage dividing circuits are combined in series, or another device capable of providing an addressing interface 1011 can be provided.
  • the ESC addressing method of the embodiment has the working principle that when the UAV is started, the flight controller 30 and the ESC respectively provide a high level and a low level for both ends of the addressing circuit 1013, thereby enabling Both ends of the addressing circuit 1013 have a voltage differential, i.e., have a divided voltage value at the addressing interface 1011. Then, by collecting the voltage magnitude of the addressing interface 1011, the address corresponding to the collected voltage level can be found in the preset voltage-address correspondence table according to the magnitude of the voltage, and the address is set as the unique communication of the ESC. address.
  • the differential pressure can also be provided to both ends of the addressing circuit 1013 by the power supply of the multi-rotor drone.
  • the addressing method of the embodiment it is not necessary to burn different addressing procedures for different ESCs in the production process of the ESC, thereby simplifying the process of making an ESC, assembling a multi-rotor UAV or repairing an ESC. , thereby reducing the time, improving the efficiency, saving the cost, and avoiding the safety hazard caused by the wrong position of the ESC installation.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller.
  • the ESC addressing method of this embodiment is an improvement made on the basis of Embodiment 2.
  • the addressing circuit 1013 includes a first voltage dividing component and a second voltage dividing component connected in series; the addressing interface 1011 is disposed between the first voltage dividing component and the second voltage dividing component .
  • the first voltage dividing component and the second voltage dividing component may be resistors or other electronic components having a voltage dividing function, that is, the first voltage dividing component and the second voltage dividing component may also be other electronic components that consume power. Devices such as LED lights. It can be understood that the first voltage dividing component and the second voltage dividing component can also be different electronic components, but it is preferable to set the first voltage dividing component and the second voltage dividing component as resistors, so that the circuit can be optimized. Structure and cost savings.
  • the first of the addressing circuits 1013 electrically connected between each ESC and the flight controller 30 is provided.
  • the voltage values at the position of the addressing interface 1011 must be different.
  • the first voltage dividing element among the four addressing circuits 1013 connected between the four ESCs and the flight controller 30 can be used.
  • Four resistors R0, R1, R2, and R34 having different resistance values are used, respectively, and the second voltage dividing element uses four resistors R4 having the same resistance.
  • the magnitude of the voltage collected at each addressing interface 1011 is:
  • x 0, 1, 2 or 3
  • Vx represents the voltage corresponding to the addressing interface 1011
  • U represents the voltage difference across the addressing circuit 1013. It can be seen from the above formula that the voltage values of the addressing interfaces 1011 corresponding to each ESC are different.
  • An optional addressing mode is: separately collecting the voltages at the four addressing interfaces 1011, and searching for the voltage-communication address according to the voltage collected by each addressing interface 1011. The communication address and set the found communication address to the unique communication address of the corresponding ESC.
  • Another optional addressing method is: separately collecting the voltages of the four addressing interfaces 1011, and collecting the voltages of the four addressing interfaces 1011 corresponding to the unique communication addresses in order from small to large.
  • the unique communication address corresponding to the corresponding voltage is set to the unique communication address of the ESC corresponding to the addressing interface 1011 where the voltage is located. It will be appreciated that the unique communication address of the ESC corresponding to the four addressing interfaces 1011 can also be set in accordance with other rules, from large to small.
  • the flight controller 30 and the ESC provide a high level and a low level respectively for both ends of the addressing circuit 1013.
  • the flight controller 30 electrically connects the addressing circuit 1013 to one end thereof. Pulling down to GND, the ESC pulls one end of the addressing circuit 1013 and its electrical connection to a high level.
  • the addressing interface 1011 between the first voltage dividing component and the second voltage dividing component can acquire a voltage, and the voltage of the addressing interface 1011 can be collected through the ES pin of the ESC.
  • the ESC processor 101 compares the voltage at the collected addressing interface 1011 with a preset voltage, and can address the ESC based on the comparison result.
  • the corresponding voltage-communication address is found.
  • the correspondence address is 1 when the voltage in the mapping table is 1V, and the addressing interface 1011 corresponding to the voltage is corresponding.
  • the unique communication address of the ESC is set to 1.
  • the four ESCs can be respectively in the order of voltage from small to large. Addressed as 0, 2, 1, 3.
  • the electrical modulation of the multi-rotor UAV is addressed by the method of the embodiment, and the corresponding installation position of each ESC on the rack is not required in the assembly process, and the addressing interface 1011 is directly collected through the startup process.
  • the voltage can be used to address the ESC based on this voltage, which simplifies the entire assembly process, saves assembly time, and avoids safety hazards due to incorrect ESC installation locations.
  • such an addressing method is the same for the maintenance of the multi-rotor unmanned electromechanical adjustment, that is, when the ESC is installed during the maintenance process, the ESC can be installed in any ESC installation position on the rack without Consider the unique correspondence of this location to the ESC communication address. This greatly improves the efficiency of ESC repair, saves costs, and avoids the safety hazard caused by incorrect installation position of ESC.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller.
  • the ESC addressing method of this embodiment is an improvement made on the basis of Embodiment 2 or 3.
  • the first voltage dividing element is integrated on the flight controller 30 or integrated on a connection line for connecting the flight controller 30 and the ESC.
  • the first voltage dividing component is integrated on the flight controller 30, and the first voltage dividing component, such as a resistor, may be directly wired on the printed circuit board of the flight controller 30; or the first component may be The pressing member is welded to the circuit board of the flight controller 30; or the first voltage dividing member may be connected to the flight controller 30 via a connecting wire and packaged with the flight controller 30.
  • the first voltage dividing element By integrating the first voltage dividing element on the flight controller 30, the first voltage dividing element can be better contacted with the flight controller 30, and the contact voltage is poor, and the voltage of the addressing interface 1011 or the collected voltage cannot be collected. The problem of not being able to accurately address the flight controller 30 is not allowed.
  • the first voltage dividing element can also be protected by the outer casing of the flight controller 30 in the above manner, thereby avoiding damage thereof and thereby increasing the service life.
  • the addressing interface 1011 can also be placed within the flight controller 30 to reduce external wiring to avoid external Unable consequences of unaddressable due to damage to the connection.
  • the way of integrating the first partial pressure component on the flight controller 30 does not have a great influence on the existing processing mode and the production line, and thus does not require excessive modification of the production line, thereby reducing The cost of the upgrade.
  • integrating the first voltage dividing component on the connecting line connecting the flight controller 30 and the ESC may be directly connecting the first voltage dividing component in series on the connecting line connecting the ESC and the flight controller 30, thereby making the whole connecting line
  • the first pressure dividing element is included.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller 30.
  • the ESC addressing method of this embodiment is an improvement based on Embodiment 2, or 3, or 4.
  • the second voltage dividing element is integrated on the ESC or integrated on a connection line for connecting the flight controller 30 and the ESC.
  • the second voltage dividing component is integrated on the ESC, and the second voltage dividing component, such as a resistor, may be directly wired on the ESC printed circuit board; or the second voltage dividing component may be soldered to On the printed circuit board of the ESC; or it may be that the second voltage dividing component is connected to the ESC via a connecting wire and packaged with the ESC.
  • the contact between the second voltage dividing component and the ESC can be better, and the contact failure is prevented, and the voltage of the addressing interface 1011 cannot be collected or the collected voltage is inaccurate. The problem of accurately addressing the ESC.
  • the second voltage dividing element can also be protected by the outer casing of the ESC, thereby avoiding damage and further improving the service life.
  • the addressing interface 1011 can also be placed in the ESC, thereby reducing external connections to avoid the unaddressable consequences of external wiring damage.
  • the way of integrating the second voltage dividing component on the ESC will not have a great impact on the existing processing mode and the production line, and there is no need to make too many modifications to the production line, thereby reducing the upgrade. cost.
  • the second voltage dividing component is integrated on the connecting line connecting the ESC and the ESC, and the second voltage dividing component may be connected in series directly on the connecting line connecting the ESC and the ESC, thereby making the whole connecting line
  • the second pressure dividing element is included.
  • the UAV is assembled from the appearance and the ESC with the existing drone There is no difference in the assembly, so it has very good adaptability.
  • the same is true when the first voltage dividing element and the second voltage dividing element are all integrated in the connection line for connecting the ESC to the flight controller 30.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller.
  • the ESC addressing method of this embodiment is an improvement made on the basis of Embodiment 2, or 3, or 4, or 5.
  • the second voltage divider element integrated with each ESC is the same resistance value.
  • the ESC can be manufactured according to a uniform specification, that is, it is not required to be in the prior art.
  • Each ESC burns different programs to manufacture a variety of different software specifications, and does not need to manufacture a variety of products including different partial pressure components. This can improve the efficiency of ESC processing and reduce its processing. cost.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller.
  • the ESC addressing method of this embodiment is an improvement made on the basis of Embodiment 2, or 3, or 4, or 5, or 6.
  • one end of the addressing circuit is coupled to the data interface of the flight controller 30 and the other end is coupled to the data interface of the ESC.
  • one end of the addressing circuit 1013 and the flight control The RX interface of the controller 30 is connected, and the other end is connected to the TX interface of the ESC.
  • one end of the addressing circuit 1013 is coupled to the TX interface of the flight controller 30 and the other end is coupled to the RX interface of the ESC.
  • one end of the addressing circuit 1013 is coupled to the TX/RX interface of the flight controller 30 and the other end is coupled to the RX/TX interface of the ESC.
  • the addressing circuit 1013 is disposed on the flight controller 30 and the communication interface of the ESC, so that the flight controller 30 and the ESC existing can be used for communication.
  • the bus can reduce external line connections and improve system stability.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller.
  • FIG. 3 is a schematic structural diagram of a control system for an ESC in a multi-rotor UAV provided in connection with a flight controller according to an embodiment of the present invention.
  • the ESC addressing method of this embodiment is an improvement made on the basis of Embodiment 1, wherein the addressing interface 1011 includes a first IO interface and a first configured for the ESC. And the two IO interfaces address the electrical tone according to the level information of the first IO interface and the second IO interface.
  • the first IO interface and the second IO interface are configured on each ESC, and the first IO interface and the second IO interface are set to an input mode.
  • the two IO interfaces can be set separately and communicated with the processor 101; or directly on the processor 101.
  • two IO interfaces as inputs can be configured on the microcontroller of the processor 101, so that the level information of the input of the two IO interfaces, such as the level and the order of the levels, can be directly read by the single chip microcomputer.
  • An optional addressing mode is: when the multi-rotor drone is started, the level signals input by the first IO interface and the second IO interface are respectively collected, and the search is performed according to the level signals and sequences of the two IO interfaces.
  • the preset level, the sequence-communication address address-search table searches for the communication address corresponding to the level and sequence of the two IO interfaces of the ESC, and sets the communication address as the unique communication of the corresponding ESC. address.
  • Another alternative addressing method is to use a quadrotor UAV as an example.
  • a quadrotor UAV For each ESC of the quadrotor UAV, two input mode IO interfaces are configured, for example, each ESC processor is selected.
  • the two IO interfaces of the single chip microcomputer in 101 are used as the addressing interface 1011.
  • the level information of the first IO interface and the second IO interface of each ESC is collected, for example, the level information of the two IO interfaces of the four ESCs collected is as follows:
  • IO1 is connected to GND, and IO2 is connected to GND.
  • IO1 is connected to 3.3V
  • IO2 is connected to GND
  • IO1 is connected to GND, and IO2 is connected to 3.3V.
  • IO1 is connected to 3.3V, and IO2 is connected to 3.3V.
  • the four ESCs can be respectively numbered according to a preset rule.
  • the above four ESCs can be respectively coded as 0, 1, 2, and 3, or can be numbered as 3, 2. 1 and 0, and the above number is the unique communication address set for each of the four ESCs.
  • the electronically-addressed method of the multi-rotor UAV of the present embodiment configures two IO interfaces as the addressing interface 1011 and sets a unique communication for the corresponding ESC according to the detected level information of the two IO interfaces. Address, no need to add devices, which can reduce the cost of upgrades.
  • the ESC addressing method of this embodiment is particularly suitable for the case where a plurality of ESCs are integrated together.
  • the embodiment provides a method for electrically addressing a multi-rotor UAV, which is used for setting a unique communication address for each ESC of a multi-rotor UAV by means of hardware detection, so that each of the multi-rotor UAVs Each ESC can accurately respond to the control of the flight controller 30.
  • the ESC addressing method of this embodiment is an improvement made on the basis of Embodiment 8.
  • the addressing interface 1011 further includes a third IO interface configured for the ESC, and the level information of the first IO interface, the second IO interface, and the third IO interface is the Adjust the address.
  • the first IO interface, the second IO interface, and the third IO interface are configured on each ESC, and the first IO interface, the second IO interface, and the third IO interface are all set to an input mode.
  • the three IO interfaces can also be separately set and communicated with the processor 101; or directly disposed on the processor 101.
  • three IO interfaces can be configured as input on the microcontroller of the processor 101, so that the three can be directly read by the single chip microcomputer.
  • the level information of the input of the IO interface such as the level of the level and the order.
  • An optional addressing mode is: when the multi-rotor drone is started, the level signals input by the first IO interface, the second IO interface, and the third IO interface are respectively collected, according to the levels of the three IO interfaces.
  • the signal and the sequence find the communication address corresponding to the level and sequence of the two IO interfaces of the ESC by searching the preset level, the sequence-communication address-one mapping table, and setting the communication address to the corresponding power.
  • the unique communication address of the tune is: when the multi-rotor drone is started, the level signals input by the first IO interface, the second IO interface, and the third IO interface are respectively collected, according to the levels of the three IO interfaces.
  • the signal and the sequence find the communication address corresponding to the level and sequence of the two IO interfaces of the ESC by searching the preset level, the sequence-communication address-one mapping table, and setting the communication address to the corresponding power.
  • the unique communication address of the tune is: when the multi-rotor drone is started, the level signals
  • Another alternative addressing method is to use a six-rotor UAV as an example.
  • three input mode IO interfaces are configured, for example, each ESC processor 101 is selected.
  • the three IO interfaces of the MCU are used as the addressing interface 1011.
  • the level information of the first IO interface, the second IO interface, and the third IO interface of each ESC is collected, for example, the levels of the three IO interfaces of the six ESCs collected.
  • the message is below:
  • IO1 is connected to GND
  • IO2 is connected to GND
  • IO3 is connected to GND.
  • IO1 is connected to 3.3V
  • IO2 is connected to GND
  • IO3 is connected to GND.
  • IO1 is connected to GND
  • IO2 is connected to 3.3V
  • IO3 is connected to GND.
  • IO1 is connected to GND
  • IO2 is connected to 3.3V
  • IO3 is connected to 3.3V.
  • IO1 is connected to 3.3V
  • IO2 is connected to 3.3V
  • IO2 is connected to GND.
  • IO1 is connected to 3.3V
  • IO2 is connected to GND
  • IO2 is connected to 3.3V.
  • six ESCs can be respectively numbered according to a preset rule.
  • the above six ESCs can be respectively coded as 0, 1, 2, 3, 4, and 5, or can be numbered as 5, 4, 3, 2, 1, and 0, and the above number is the unique communication address set by each of the six ESCs.
  • the electronically-addressed method of the multi-rotor UAV of the present embodiment configures three IO interfaces as the addressing interface 1011 and sets a unique communication for the corresponding ESC according to the detected level information of the three IO interfaces. address.
  • the ESC addressing method of the embodiment can realize the addressing of the ESC from the physical level only by configuring the IO interface, and the hardware can be saved without significant hardware. Moreover, by adding an IO interface, the number of addressed ESCs can be multiplied, making it ideal for multi-rotor UAV addressing.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which passes through hardware
  • the method of detection is to set a unique communication address for each ESC of the multi-rotor UAV so that each ESC of the multi-rotor UAV can accurately respond to the control of the flight controller.
  • the control system of the present embodiment includes: one or more processors 101 operating separately or in common, and the processor 101 is configured to: acquire the addressing interface 1011 Feature information; addressing the electrical tone according to the feature information of the addressing interface 1011.
  • the processor 101 may be identical to any type of processor 101 in the prior art except that the addressing interface 1011 needs to be set.
  • the addressing interface 1011 in this embodiment may be any interface in the physical sense, such as a connection point of a line to a line, a specific location of a circuit, and an information transmission site.
  • the addressing interface 1011 can be an electrical tune to communicate with other components on the drone or a particular location on the power line, or it can be a processor 101 or a communication interface integrated on the microcontroller of the processor 101. That is to say, the addressing interface 1011 of the present embodiment may be separately provided and communicatively coupled to the processor 101; or may be disposed on the ESC processor 101.
  • the feature information obtained from the feature interface may be any information that can be addressed for the ESC, such as voltage information, current information, or power-on time information. Further, in order to simplify the operation, the feature information is preferably at least one of voltage information and power-on time information.
  • the voltage information may be one or more of a magnitude of a voltage, a level of a level, and a sequence.
  • the voltage information of the addressing interface 1011 can be read by the AD pin in the processor 101 that is electrically coupled to the addressing interface 1011, or the level of the addressing interface 1011 can be obtained by a microcontroller in the processor 101. Information, or can also obtain the power-on time information of the feature interface through a trigger or a timer.
  • the above AD pin, the single chip microcomputer, the flip flop or the timer can also be an electronic component external to the processor 101.
  • the feature information of the addressing interface 1011 When the feature information of the addressing interface 1011 is obtained, the feature information can be addressed for the ESC.
  • the address corresponding to the voltage may be searched in a preset voltage-communication address one-to-one mapping table, and the found address is set to the ESC.
  • the unique communication address is such that it can accurately respond to the control of the flight controller 30 in the drone.
  • the voltages obtained from the addressing interfaces 1011 of the plurality of ESCs may be sorted by size, and the unique communication addresses corresponding to the ESCs are respectively given according to the order from large to small or from small to large, thereby implementing ESC. Addressing.
  • all the ESCs of the multi-rotor UAV in this embodiment may be integrated on one circuit board, or may be multiple ESC boards and dispersed in different positions of the UAV frame.
  • the four ESC boards that control the operation of the four rotors can be dispersed in the front, rear, left, and right positions of the rack, or all integrated in a printed circuit board.
  • the printed circuit board can be dedicated to the integration of multi-rotor unmanned electromechanical tuning, or it can be a flight control board for multi-rotor drones.
  • the processor 101 is further configured to acquire an addressing condition of the ESC in the multi-rotor UAV, and perform an alarm when the addressing of the two ESCs is the same.
  • a plurality of ESCs in the multi-rotor UAV generate the same address after addressing the ESC through the processor 101, so that the UAV appears during the flight. Control errors, which can lead to damage to the drone or injury to personnel. Then, it is possible to avoid the above accident by monitoring the location of the multi-rotor drone.
  • the address of each ESC in the multi-rotor UAV can be monitored by ESC's own processor 101 or an additional monitor. When it is found by comparison that there are two ESCs addressed the same, then ESC is passed.
  • the processor 101, or the flight controller 30 or other alarm device performs an alarm.
  • the flight controller 30 cuts off or electrically switches the supply of the power to the ESC, or directly controls the motor to stop by the ESC, thereby avoiding the unmanned Damage to the machine's propeller or personal injury.
  • the unique communication address set for the ESC can be stored in An ESC or a plurality of ESCs in the processor 101.
  • the replaced ESC can be addressed, which saves the addressing time and improves the startup efficiency of the multi-rotor UAV.
  • the unique communication address can be assigned to the replaced ESC by reading the communication address of the multi-rotor UAV that is not replaced with the ESC, and locking the above communication address.
  • the assigned communication address may be the original communication address of the replaced ESC, or may be an original communication address different from the original ESC being replaced. That is, the processor 101 in the control system of the embodiment is further configured to: acquire a communication address of the ESC that has not been replaced, and lock the acquired communication address; and configure a unique communication address for the replaced ESC.
  • a communication address includes addressing a single electrical tone replaced in the multi-rotor drone based on the acquired communication address.
  • the communication addresses of the multi-rotor UAVs that are not replaced by ESCs can also be read, and these communication addresses are locked, and then according to the processor 101 described above.
  • the ESC addressing method addresses the replaced ESC.
  • the processor 101 in the control system of the embodiment is further configured to: acquire a communication address of the ESC that has not been replaced, and lock the acquired communication address; and configure a unique communication address for the replaced ESC.
  • the configuration of the unique communication address for the replaced ESC includes: configuring the address interface 1011 for the replaced ESC; acquiring the feature information of the addressing interface 1011; and addressing the replaced ESC according to the feature information.
  • the control system for the ESC in the multi-rotor UAV of the present embodiment acquires the characteristic information of the addressing interface 1011 by the processor 101 of the ESC to address the corresponding ESC. In this way, in the process of manufacturing the ESC, it is not necessary to address different ESCs by burning different programs, and all the ESCs that are identified by the UAV and addressed to them are simplified, thereby simplifying the ESC. Manufacturing process.
  • addressing the ESC of the multi-rotor UAV by the method breaks the prior art that the ESC programmed with the unique communication address needs to be installed on the UAV at a position uniquely corresponding to the communication address, that is, Breaking the specific correspondence between the multi-rotor unmanned electromechanical adjustment and the installation position, so that any one of the multi-rotor UAVs can be installed in any one of the ESC installation positions without the ESC being able to respond accurately.
  • the problem controlled by the man-machine flight controller 30 This greatly reduces the difficulty of the UAV assembly process or the maintenance process, improves the efficiency of assembly or maintenance, thereby saving costs, and avoids the safety hazard caused by incorrect installation position of the ESC.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the control system of this embodiment is an improvement made on the basis of Embodiment 10.
  • the addressing interface 1011 is disposed at a preset position of the addressing circuit 1013, and the addressing circuit 1013 a flight controller 30 and an ESC for electrically connecting the multi-rotor UAV; acquiring a voltage level of the addressing interface 1011; addressing the ESC according to the voltage magnitude.
  • the addressing circuit 1013 can be any circuit capable of providing a voltage-divided voltage to the ESC addressing interface 1011.
  • a circuit in which a single voltage dividing component can be connected in series between the ESC and the flight controller 30, or a circuit in which a series of different voltage dividing circuits are combined in series, or another device capable of providing an addressing interface 1011 can be provided.
  • the control system of this embodiment operates on the principle that when the drone is started, the flight controller 30 and the ESC provide a high level and a low level respectively for both ends of the addressing circuit 1013, thereby making the addressing circuit Both ends of 1013 have a voltage differential, that is, a voltage value after division of the addressing interface 1011. Then, the processor 101 collects the voltage level of the addressing interface 1011, and can find the address corresponding to the collected voltage in the preset voltage-address correspondence table according to the magnitude of the voltage, and set the address to the ESC. Unique communication address.
  • the differential pressure can also be provided to both ends of the addressing circuit 1013 by the power supply of the multi-rotor drone.
  • control system of the embodiment it is not necessary to burn different addressing procedures for different ESCs in the process of making the ESC, thereby simplifying the process of making an ESC, assembling a multi-rotor UAV or repairing an ESC.
  • the time is reduced, the efficiency is improved, the cost is saved, and the safety hazard caused by the wrong position of the ESC installation is avoided.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the control system of this embodiment is an improvement made on the basis of Embodiment 11.
  • the addressing circuit 1013 includes a first voltage dividing component and a second voltage dividing component connected in series; the addressing interface 1011 is disposed in the first voltage dividing component and the second voltage dividing component. between.
  • the first voltage dividing component and the second voltage dividing component may be resistors or other electronic components having a voltage dividing function, that is, the first voltage dividing component and the second voltage dividing component may also be other electronic components that consume power. Devices such as LED lights. It can be understood that the first voltage dividing component and the second voltage dividing component can also be different electronic components, but preferably the first voltage dividing component and the second component.
  • the voltage dividing components are all set to resistors, which optimizes the circuit structure and saves costs.
  • the first voltage dividing element in the addressing circuit 1013 electrically connected between each ESC and the flight controller 30 is also known. After the partial pressure component is divided, the voltage value at the position of the addressing interface 1011 must be different. Taking a quadrotor UAV with a resistor as the first voltage dividing element and the second voltage dividing element as an example, the first voltage dividing element among the four addressing circuits 1013 connected between the four ESCs and the flight controller 30 can be used. Four resistors R0, R1, R2, and R34 having different resistance values are used, respectively, and the second voltage dividing element uses four resistors R4 having the same resistance. Thus, the magnitude of the voltage collected at each addressing interface 1011 is:
  • x 0, 1, 2 or 3
  • Vx represents the voltage corresponding to the addressing interface 1011
  • U represents the voltage difference across the addressing circuit 1013. It can be seen from the above formula that the voltage values of the addressing interfaces 1011 corresponding to each ESC are different.
  • An optional addressing mode is: separately collecting the voltages at the four addressing interfaces 1011, and searching for the voltage-communication address according to the voltage collected by each addressing interface 1011. The communication address and set the found communication address to the unique communication address of the corresponding ESC.
  • Another optional addressing method is: separately collecting the voltages of the four addressing interfaces 1011, and collecting the voltages of the four addressing interfaces 1011 corresponding to the unique communication addresses in order from small to large.
  • the unique communication address corresponding to the corresponding voltage is set to the unique communication address of the ESC corresponding to the addressing interface 1011 where the voltage is located. It will be appreciated that the unique communication address of the ESC corresponding to the four addressing interfaces 1011 can also be set in accordance with other rules, from large to small.
  • the flight controller 30 and the ESC provide a high level and a low level respectively for both ends of the addressing circuit 1013.
  • the flight controller 30 electrically connects the addressing circuit 1013 to one end thereof. Pulling down to GND, the ESC pulls one end of the addressing circuit 1013 and its electrical connection to a high level.
  • the addressing interface 1011 between the first voltage dividing component and the second voltage dividing component can acquire a voltage, which can be collected by the AD pin in the processor 101. The voltage of the addressed interface 1011 is set. Then, the ESC processor 101 compares the voltage at the collected addressing interface 1011 with a preset voltage, and can address the ESC based on the comparison result.
  • the preset voltage-communication address is found.
  • the corresponding communication address is 1, and the address corresponding to the addressing interface 1011 where the voltage is located is The unique communication address of the tone is set to 1.
  • the four ESCs can be respectively in the order of voltage from small to large. Addressed as 0, 2, 1, 3.
  • the electrical control of the multi-rotor UAV is addressed by the control system of the embodiment.
  • the addressing interface 1011 is directly collected through the boot process.
  • the voltage can be used to address the ESC based on this voltage, which simplifies the entire assembly process, saves assembly time, and avoids safety hazards due to incorrect ESC installation locations.
  • such an addressing method is the same for the maintenance of the multi-rotor unmanned electromechanical adjustment, that is, when the ESC is installed during the maintenance process, the ESC can be installed in any ESC installation position on the rack without Consider the unique correspondence of this location to the ESC communication address. This greatly improves the efficiency of ESC repair, saves costs, and avoids the safety hazard caused by incorrect installation position of ESC.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the control system of this embodiment is an improvement made on the basis of Embodiment 11 or 12.
  • the first voltage dividing element is integrated on the flight controller 30 or integrated on a connecting line for connecting the flight controller 30 and the ESC.
  • the first voltage dividing component is integrated on the flight controller 30, and the first voltage dividing component, such as a resistor, may be directly wired on the printed circuit board of the flight controller 30; or the first component may be The pressing member is welded to the circuit board of the flight controller 30; or the first voltage dividing member may be connected to the flight controller 30 via a connecting wire and packaged with the flight controller 30.
  • the contact of the first voltage dividing element with the flight controller 30 can be better, and the contact failure is prevented, resulting in the inability to collect the addressing.
  • the voltage of the interface 1011 or the collected voltage is not allowed to cause an inability to accurately address the flight controller 30.
  • the first voltage dividing element can also be protected by the outer casing of the flight controller 30 in the above manner, thereby avoiding damage thereof and thereby increasing the service life.
  • the addressing interface 1011 can also be placed within the flight controller 30, thereby reducing external wiring to avoid the undesirable consequences of unaddressable damage caused by external wiring damage.
  • the way of integrating the first partial pressure component on the flight controller 30 does not have a great influence on the existing processing mode and the production line, and thus does not require excessive modification of the production line, thereby reducing The cost of the upgrade.
  • integrating the first voltage dividing component on the connecting line connecting the flight controller 30 and the ESC may be directly connecting the first voltage dividing component in series on the connecting line connecting the ESC and the flight controller 30, thereby making the whole connecting line
  • the first pressure dividing element is included.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the control system of this embodiment is an improvement made on the basis of Embodiment 11, 12, or 13.
  • the second voltage dividing element is integrated on the ESC or integrated on a connection line for connecting the flight controller 30 and the ESC.
  • the second voltage dividing component is integrated on the ESC, and the second voltage dividing component, such as a resistor, may be directly wired on the ESC printed circuit board; or the second voltage dividing component may be soldered to On the printed circuit board of the ESC; or it may be that the second voltage dividing component is connected to the ESC via a connecting wire and packaged with the ESC.
  • the contact between the second voltage dividing component and the ESC can be better, and the contact failure is prevented, and the voltage of the addressing interface 1011 cannot be collected or the collected voltage is inaccurate. The problem of accurately addressing the ESC.
  • the second voltage dividing element can also be protected by the outer casing of the ESC, thereby avoiding damage and further improving the service life.
  • the addressing interface 1011 can also be placed in the ESC, thereby reducing external connections to avoid the unaddressable consequences of external wiring damage.
  • this way of integrating the second voltage dividing element on the ESC is the existing processing. The way and the production line will not have a big impact, so there is no need to make too many modifications to the production line, which can reduce the cost of the upgrade.
  • the second voltage dividing component is integrated on the connecting line connecting the ESC and the ESC, and the second voltage dividing component may be directly connected in series on the connecting line connecting the ESC and the ESC, so that the connecting line as a whole includes the second sub-division. Pressure element.
  • the UAV is assembled from the appearance and the ESC with the existing drone There is no difference in the assembly, so it has very good adaptability.
  • the same is true when the first voltage dividing element and the second voltage dividing element are all integrated in the connection line for connecting the ESC to the flight controller 30.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the control system of this embodiment is an improvement made on the basis of Embodiment 11, 12, or 13, or 14.
  • the second voltage dividing component integrated with each ESC is a resistor of the same resistance.
  • the ESC can be manufactured according to a uniform specification, that is, it is not necessary to burn different on each ESC as in the prior art.
  • the program thus manufactures a variety of products of different software specifications, and does not require the manufacture of a plurality of products including second partial pressure components of different partial presses, thereby improving the processing efficiency of the ESC and reducing the processing cost thereof.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the control system of the present embodiment is an improvement made on the basis of Embodiment 11, 12, or 13, or 14, or 15. Referring to FIG. 2, one end of the addressing circuit 1013 is connected to the data interface of the flight controller 30, and the other end is connected to the data interface of the ESC.
  • one end of the addressing circuit 1013 is connected to the RX interface of the flight controller 30, and the other end is connected to the TX interface of the ESC.
  • one end of the addressing circuit 1013 is coupled to the TX interface of the flight controller 30 and the other end is coupled to the RX interface of the ESC.
  • one end of the addressing circuit 1013 is coupled to the TX/RX interface of the flight controller 30 and the other end is coupled to the RX/TX interface of the ESC.
  • the control system of the present embodiment sets the addressing circuit 1013 on the flight controller 30 and the ESC communication interface, so that the flight controller 30 and the existing bus for communication can be used, which can reduce the external Line connections improve system stability.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the control system of this embodiment is an improvement made on the basis of Embodiment 10.
  • the addressing interface 1011 includes a first IO interface and a second IO interface configured for the ESC, and the ESC is based on level information of the first IO interface and the second IO interface. Addressing.
  • the first IO interface and the second IO interface are configured on each ESC, and the first IO interface and the second IO interface are set to an input mode.
  • the two IO interfaces can be set separately and communicated with the processor 101; or directly on the processor 101.
  • two IO interfaces as inputs can be configured on the microcontroller of the processor 101, so that the level information of the input of the two IO interfaces, such as the level and the order of the levels, can be directly read by the single chip microcomputer.
  • An optional addressing mode is: when the multi-rotor drone is started, the processor 101 collects the level signals respectively input by the first IO interface and the second IO interface, according to the level signals of the two IO interfaces.
  • the sequence searches for the communication address corresponding to the level and sequence of the two IO interfaces of the ESC by searching for a preset level, a sequence-communication address address, and a mapping address.
  • the letter address is set to the unique communication address of the corresponding ESC.
  • Another alternative addressing method is to use a quadrotor UAV as an example.
  • a quadrotor UAV For each ESC of the quadrotor UAV, two input mode IO interfaces are configured, for example, each ESC processor is selected.
  • the two IO interfaces of the single chip microcomputer in 101 are used as the addressing interface 1011.
  • the level information of the first IO interface and the second IO interface of each ESC is collected, for example, the level information of the two IO interfaces of the four ESCs collected is as follows:
  • IO1 is connected to GND, and IO2 is connected to GND.
  • IO1 is connected to 3.3V
  • IO2 is connected to GND
  • IO1 is connected to GND, and IO2 is connected to 3.3V.
  • IO1 is connected to 3.3V, and IO2 is connected to 3.3V.
  • the processor 101 may separately number the four ESCs according to a preset rule.
  • the above four ESCs may be respectively coded as 0, 1, 2, and 3, or may be numbered as 3, 2, 1 and 0, and the above number is the unique communication address set for each of the four ESCs.
  • the control system of this embodiment configures two IO interfaces as the addressing interface 1011 and sets a unique communication address for the corresponding ESC according to the detected level information of the two IO interfaces, without adding devices, thereby reducing The cost of the upgrade.
  • the control system of this embodiment is particularly suitable for the case where a plurality of electrical switches are integrated.
  • the embodiment provides a control system for an ESC in a multi-rotor UAV, which sets a unique communication address for each ESC of the multi-rotor UAV through hardware detection, so that the multi-rotor UAV Each ESC is able to accurately respond to the control of the flight controller.
  • the addressing interface 1011 further includes a third IO interface configured for the ESC, according to the level information of the first IO interface, the second IO interface, and the third IO interface. Adjust the address.
  • the first IO interface, the second IO interface, and the third IO interface are configured on each ESC, and the first IO interface, the second IO interface, and the third IO interface are all set to an input mode.
  • the three IO interfaces can also be separately set and communicated with the processor 101; or directly disposed on the processor 101.
  • a single piece of processor 101 can be Three on-board IO interfaces are provided as inputs, so that the level information of the three IO interface inputs, such as the level and order, can be directly read by the microcontroller.
  • An optional addressing mode is: when the multi-rotor drone is started, the processor 101 collects level signals respectively input by the first IO interface, the second IO interface, and the third IO interface, according to the three IO interfaces.
  • the level signal and the sequence are searched for the communication address corresponding to the level and level of the two IO interfaces of the ESC by searching the preset level, the sequence-communication address-one-to-one mapping table, and setting the communication address.
  • Another alternative addressing method is to use a six-rotor UAV as an example.
  • three input mode IO interfaces are configured, for example, each ESC processor 101 is selected.
  • the three IO interfaces of the MCU are used as the addressing interface 1011.
  • the processor 101 collects level information of the first IO interface, the second IO interface, and the third IO interface of each ESC, for example, three IO interfaces of the six ESCs collected.
  • the level information is as follows:
  • IO1 is connected to GND
  • IO2 is connected to GND
  • IO3 is connected to GND.
  • IO1 is connected to 3.3V
  • IO2 is connected to GND
  • IO3 is connected to GND.
  • IO1 is connected to GND
  • IO2 is connected to 3.3V
  • IO3 is connected to GND.
  • IO1 is connected to GND
  • IO2 is connected to 3.3V
  • IO3 is connected to 3.3V.
  • IO1 is connected to 3.3V
  • IO2 is connected to 3.3V
  • IO2 is connected to GND.
  • IO1 is connected to 3.3V
  • IO2 is connected to GND
  • IO2 is connected to 3.3V.
  • the processor 101 can respectively number the six ESCs according to a preset rule.
  • the above six ESCs can be respectively coded as 0, 1, 2, 3, 4, and 5, or It can also be numbered 5, 4, 3, 2, 1, and 0, and the above number is the unique communication address set for each of the six ESCs.
  • the control system of the multi-rotor UAV of the present embodiment sets three IO interfaces as the addressing interface 1011 and sets a unique communication address for the corresponding ESC according to the detected level information of the three IO interfaces.
  • the control system of this embodiment can realize the addressing of the ESC from the physical level only by configuring the IO interface, without adding hardware, and the cost can be greatly saved. Moreover, by adding an IO interface, the number of addressed ESCs can be multiplied, making it ideal for multi-rotor UAV addressing.
  • the embodiment provides an electrical adjustment, which sets a unique communication address for each ESC of the multi-rotor UAV by hardware detection, so that each ESC of the multi-rotor UAV can accurately respond to the flight controller. control.
  • the electric adjustment of the embodiment includes the control system and the outer casing of any one of the embodiments 10-18 described above; the control system is installed in the outer casing, and
  • the control system includes one or more processors 101, which work separately or in common.
  • the processor 101 is configured to: acquire feature information of the addressing interface 1011; and according to the feature information of the addressing interface 1011, Describe the address of the electric tone.
  • the outer casing may be any type of outer casing used in existing electric tones, such as a metal outer casing or an outer casing made of plastic by an injection molding process.
  • the outer casing encloses a cavity such that a control system can be installed within the cavity to facilitate securing and protecting the control system.
  • control system in this embodiment are the same as those of the control system described in any one of the embodiments 10-18.
  • control system described in any one of the embodiments 10-18 For details, refer to the above embodiments 10-18; For the same, reference may be made to the electronic addressing method described in the above embodiments 1-9, and details are not described herein.
  • the processor 101 acquires the feature information of the addressing interface 1011 to address the corresponding ESC. In this way, in the process of manufacturing the ESC, it is not necessary to address different ESCs by burning different programs, and all the ESCs that are identified by the UAV and addressed to them are simplified, thereby simplifying the ESC. Manufacturing process.
  • addressing the ESC of the multi-rotor UAV by the method breaks the prior art that the ESC programmed with the unique communication address needs to be installed on the UAV at a position uniquely corresponding to the communication address, that is, Breaking the specific correspondence between the multi-rotor unmanned electromechanical adjustment and the installation position, so that any one of the multi-rotor UAVs can be installed in any one of the ESC installation positions without the ESC being able to respond accurately.
  • the problem controlled by the man-machine flight controller 30 This greatly reduces the difficulty of the UAV assembly process or the maintenance process, improves the efficiency of assembly or maintenance, thereby saving costs, and avoids the safety hazard caused by incorrect installation position of the ESC.
  • the embodiment provides a power system, which is detected by hardware as a multi-rotor drone
  • Each ESC sets a unique communication address so that each ESC of the multi-rotor drone can accurately respond to the flight controller's control.
  • the power system of the embodiment includes: the ESC of the above embodiment 19, and the motor; the ESC is communicatively coupled to the motor for controlling the operation of the motor.
  • the electrical system includes a control system mounted within the housing; the control system includes one or more processors 101, operating separately or collectively, the processor 101 for: acquiring the addressing interface 1011 Characteristic information; addressing the electrical tone according to the feature information of the addressing interface 1011.
  • the motor may be any type of motor used in the existing multi-rotor drone, and is not specifically limited herein.
  • other configurations of the electrical tuning of the present embodiment other than the feature interface of the following form may be the same as those of the prior art.
  • the characteristic information of the addressing interface 1011 is obtained by the processor 101 of the ESC to address the corresponding ESC. In this way, in the process of manufacturing the ESC, it is not necessary to address different ESCs by burning different programs, and all the ESCs that are identified by the UAV and addressed to them are simplified, thereby simplifying the ESC. Manufacturing process.
  • addressing the ESC of the multi-rotor UAV by the method breaks the prior art that the ESC programmed with the unique communication address needs to be installed on the UAV at a position uniquely corresponding to the communication address, that is, Breaking the specific correspondence between the multi-rotor unmanned electromechanical adjustment and the installation position, so that any one of the multi-rotor UAVs can be installed in any one of the ESC installation positions without the ESC being able to respond accurately.
  • the problem controlled by the man-machine flight controller 30 This greatly reduces the difficulty of the UAV assembly process or the maintenance process, improves the efficiency of assembly or maintenance, thereby saving costs, and avoids the safety hazard caused by incorrect installation position of the ESC.
  • the embodiment provides a multi-rotor UAV that sets a unique communication address for each ESC through hardware detection so that each ESC can accurately respond to the control of the flight controller.
  • FIG. 4 is a schematic structural diagram of a multi-rotor UAV provided by the embodiment.
  • the multi-rotor UAV 1 of the present embodiment includes: a frame 50; and a plurality of power systems 10 of the above embodiment 20 are respectively disposed at On the rack 50; the flight controller 30 is electrically connected to the power system 10; wherein the flight controller 30 sends a throttle signal to the ESC, and the ESC is controlled according to the throttle signal The rotational speed of the motor provides flight power to the multi-rotor drone 1 .
  • the rack 50 can be any type of rack used by existing multi-rotor drones.
  • the flight controller 30 may have the same structure as the prior art flight controller except for the differences described below.
  • the characteristic information of the addressing interface 1011 is obtained by the processor 101 of the ESC to address the corresponding ESC. In this way, in the process of manufacturing the ESC, it is not necessary to address different ESCs by burning different programs, and all the ESCs that are identified by the UAV and addressed to them are simplified, thereby simplifying the ESC. Manufacturing process.
  • addressing the ESC of the multi-rotor UAV 1 by the method breaks the prior art that the ESC programmed with the unique communication address needs to be installed on the UAV at a position uniquely corresponding to the communication address, That is, the specific correspondence between the ESC and the installation position of the multi-rotor UAV 1 is broken, so that any one of the multi-rotor UAVs 1 can be installed in any one of the ESC installation positions without electricity.
  • the adjustment does not accurately respond to problems controlled by the UAV flight controller 30. This greatly reduces the difficulty of the UAV assembly process or the maintenance process, improves the efficiency of assembly or maintenance, thereby saving costs, and avoids the safety hazard caused by incorrect installation position of the ESC.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combine or can Integrate into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor 101 to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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Abstract

一种多旋翼无人机的电调编址方法，包括以下步骤：为所述电调配置编址接口；获取所述编址接口的特征信息；根据所述编址接口的特征信息为所述电调编址。本发明提供的多旋翼无人机的电调编址方法，安装电调时无需考虑电调与安装位置的对应关系，而在开机后由无人机自行识别并对其安装的所有电调进行编址，从而方便了电调的装配或维修。本发明还提供了一种用于多旋翼无人机中电调的控制系统、电调、动力系统以及多旋翼无人机。

Description

多旋翼无人机的电调编址方法、用于多旋翼无人机中电调的控制系统、电调、动力系统及多旋翼无人机 技术领域
本发明涉及一种多旋翼无人机的电调编址方法、用于多旋翼无人机中电调的控制系统、电调、动力系统及多旋翼无人机，属于无人飞行器制造技术领域。
背景技术
无人驾驶飞机简称无人机(UAV)，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。多旋翼无人机是目前最常见的一种无人机，其指包括三个及以上旋翼轴的无人驾驶飞机。这种多旋翼无人机的每个旋翼轴一般都是通过一个电调进行控制，因此，为了使得电调能够准确应答飞行控制器对其进行控制的控制信号，则需要对这多个电调进行区分和编号，也就是为每个电调分配唯一的地址。
现有技术中，是通过对多旋翼无人机中的多个电调分别烧录不同的程序来为每个电调分配唯一地址的。例如，四旋翼无人机的四个电调分别烧录不同的程序从而将这四个电调分别定义为1号、2号、3号和4号电调。
但是，这种通过为多旋翼无人机中不同的电调烧录不同的程序来为每个电调编址的方法所制作的电调会有明显的位置区分，也即，相应编号的电调必须安装在多旋翼无人机的相应位置，如果一旦位置安装错误，在开机后就很容易造成多旋翼无人机的损坏。这样在电调安装或维修时就需要首先判断该电调为几号电调以及应该安装在多旋翼无人机的那个位置，从而造成了安装或者维修的不便。
发明内容
本发明提供一种多旋翼无人机的电调编址方法、用于多旋翼无人机中电调的控制系统、电调、动力系统及多旋翼无人机，以解决现有技术中电 调装配或者维修不方便的问题。
根据本发明的一个实施例，提供一种多旋翼无人机的电调编址方法，包括以下步骤：为所述电调配置编址接口；获取所述编址接口的特征信息；根据所述编址接口的特征信息为所述电调编址。
根据本发明的一个实施例，提供一种用于多旋翼无人机中电调的控制系统，包括：一个或多个处理器，单独地或共同地工作，所述处理器用于：获取所述编址接口的特征信息；根据所述编址接口的特征信息为所述电调编址。
根据本发明的一个实施例，提供一种电调，包括：控制系统和外壳；所述控制系统安装在所述外壳内，且所述控制系统包括一个或多个处理器，单独地或共同地工作，所述处理器用于：获取所述编址接口的特征信息；根据所述特征信息为所述电调编址。
根据本发明的一个实施例，提供一种动力系统，包括：电调和电机；所述电调与所述电机通信连接，用于控制所述电机的工作状态；所述电调包括安装在外壳内的控制系统；所述控制系统包括一个或多个处理器，单独地或共同地工作，所述处理器用于：获取所述编址接口的特征信息；根据所述特征信息为所述电调编址。
根据本发明的一个实施例，提供一种多旋翼无人机，包括：机架；多个上述动力系统；别设于所述机架上；飞行控制器，与所述动力系统的电调通讯连接；其中，所述飞行控制器发送油门信号给所述电调，所述电调根据所述油门信号控制所述电机的转速，为所述多旋翼无人机提供飞行动力。
本发明提供的多旋翼无人机的电调编址方法、用于多旋翼无人机中电调的控制系统、电调、动力系统及多旋翼无人机，通过为电调配置编址接 口，并通过获取到的该编址接口的特征信息来对相应的电调进行编址。这样在制造电调的过程中就无需通过烧录不同的程序来为不同的电调进行编址，而由无人机自行识别并对其安装的所有电调进行编址，从而无需考虑电调与安装位置的对应关系，进而方便了电调的装配或维修。
附图说明
图1为本发明实施例1提供的多旋翼无人机的电调编址方法的流程图；
图2为本发明实施例2提供的用于多旋翼无人机中电调的控制系统与飞行控制器连接时的结构示意图；
图3为本发明实施例8提供的用于多旋翼无人机中电调的控制系统与飞行控制器连接时的结构示意图；
图4为本发明实施例21提供的多旋翼无人机的结构示意图。
图中：
1、多旋翼无人机；     10、动力系统；
101、处理器；         1011、编址接口；
1013、编址电路；      30、飞行控制器。
50、机架。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例1
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
图1为本实施例提供的多旋翼无人机的电调编址方法的流程图。
如图1所示，本实施例的电调编址方法，包括以下步骤：
S101、为所述电调配置编址接口。
具体的，编址接口可以是物理意义上的任何接口，例如线与线的连接点、电路的特定位点，以及信息传输位点。
举例来说，编址接口可以是电调与无人机上其他部件进行通信或者供电线路上的特定位置，也可以是处理器或者集成在处理器的单片机上的通信接口。也即是说，本实施例的编址接口可以是单独设置的，并且与处理器通讯连接；或者也可以设置在电调的处理器上。
此外，还需说明的是，本实施例中多旋翼无人机的所有电调可以集成在一块电路板上，也可以是多块电调电路板并分散在无人机机架的不同位置。以四旋翼无人机为例，分别控制四个旋翼工作的四个电调的电路板可以分散在机架的前、后、左、右四个位置，或者全部集成在一块印刷电路板，这个印刷电路板可以是专门用于集成多旋翼无人机电调的，也可以是多旋翼无人机的飞行控制板。
S102、获取所述编址接口的特征信息；
获取编址接口的特征信息，具体可以通过电调自身的处理器，或者通过电调外部的电子元器件。并且，征信息可以是特征接口的任何信息，例如可以是电压信息、电流信息或者上电时间信息。
举例来说，可以通过与编址接口电连接的处理器中的AD引脚来读取编址接口的电压信息，或者通过处理器中的单片机来获取编址接口的电平信息，或者还可以通过触发器或者计时器来获取特征接口的上电时间信息。并且，可以理解的是，上述AD引脚、单片机、触发器或者计时器也可以是处理器外部的电子元器件。
进一步，为了简化操作，上述特征信息优选为电压信息、上电时间信息中的至少一种。其中，电压信息可以是电压的大小、电平的高低及顺序中的一种或者多种。
S103、根据所述编址接口的特征信息为所述电调编址。
具体的，当获取到编址接口的特征信息以后即可根据该特征信息为电调编址。例如，当特征信息为编址接口的电压大小时，则可以在预设的电压-通信地址一一映射表中查找该电压所对应的地址，并将查找到的地址设置为该电调的唯一通信地址，以使其能准确的响应无人机中飞行控制器的控制。或者，也可以将从多个电调的编址接口获取到的电压进行大小排序， 根据由大到小或者由小到大的顺序分别给电调相对应的唯一通信地址，从而实现电调的编址。
进一步，在一个优选的实施方式中，上述电调编址方法还可以包括：
S104、获取所述多旋翼无人机中电调的编址情况，当有两个电调的编址相同时进行报警。
为了避免系统软件或者硬件错误致使多旋翼无人机中有多个电调在经过上述电调编址方法进行编址后出现地址相同的情况，使得无人机在飞行过程中出现控制错误，进而导致无人机的损毁或者造成人员的伤害。那么就可以通过监控多旋翼无人机的电调编址情况从而避免出现上述事故。
具体来说，可以通过电调自身的处理器或者附加的监控器来监控多旋翼无人机中每个电调的地址，当通过比较发现有两个电调的编址相同时则通过电调的处理器、或者飞行控制器或者其他报警装置进行报警。优选地，为了无人机和人员的安全，在报警的同时，由飞行控制器切断或者电调切断电源对电调的供应，或者也可以由电调直接控制电机停止运转，从而避免无人机螺旋桨的损坏或者人员的伤害。
此外，基于以上所描述的多旋翼无人机的电调编址方法，还需要另外说明一点，在使用上述电调编址方法对电调编址后，可以将为电调设置的唯一通信地址储存在一个电调或者多个电调的处理器中。当更换多旋翼无人机的某个或某些电调时，则可以仅对更换的电调进行编址，从而可以节省编址的时间，提高多旋翼无人机的启动效率。
例如当多旋翼无人机只更换一个电调时，可以通过读取多旋翼无人机中未更换电调的通信地址，并将上述通信地址锁定，而为更换的电调分配唯一通信地址，这个分配的通信地址可以是被更换电调原来的通信地址，也可以是不同于原来被更换电调的原通信地址。也即，本实施例的多旋翼无人机的编址方法还可以包括：获取未更换电调的通信地址，并将获取到的通信地址锁定；为更换的电调配置唯一通信地址。所述为更换的电调配置唯一通信地址包括：根据获取到的所述通信地址为多旋翼无人机中更换的单个电调进行编址。
又例如当多旋翼无人机中有多个电调进行更换时，也可以读取多旋翼无人机中未更换电调的通信地址，并将这些通信地址锁定，再根据上述电 调编址方法对更换的电调进行编址。当然也可以直接重新对多旋翼无人机中所有的电调按照上述电调编址方法重新进行编址。也即，本实施例的多旋翼无人机的编址方法还可以包括：获取未更换电调的通信地址，并将获取到的所述通信地址锁定；为更换的电调配置唯一通信地址。所述为更换的电调配置唯一通信地址包括：为已更换电调配置编址接口；获取所述编址接口的特征信息；根据所述特征信息为所述已更换电调编址。
本实施例的多旋翼无人机的电调编址方法，通过为电调配置编址接口，并通过获取到的该编址接口的特征信息来对相应的电调进行编址。这样在制造电调的过程中就无需通过烧录不同的程序来为不同的电调进行编址，而由无人机自行识别并对其安装的所有电调进行编址，从而简化了电调的制造过程。并且，通过本方法对多旋翼无人机的电调进行编址打破了现有技术中烧录有唯一通信地址的电调需要安装在无人机上与该通信地址唯一对应的位置上，也即打破了多旋翼无人机电调与安装位置的这种特定对应关系，使得多旋翼无人机中任意一个电调可以安装在机架任意一个电调安装位置而不会出现电调无法准确响应无人机飞行控制器控制的问题。这也就极大的降低了无人机装配过程或者维修过程的难度，提高了装配或者维修的效率，进而节省了成本，并避免了由于电调安装位置错误所带来的安全隐患。
实施例2
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
图2为本实施例提供的用于多旋翼无人机中电调的控制系统与飞行控制器连接时的结构示意图。
如图2所示，本实施例的电调编址方法是在实施例1的基础上所做的改进，其将编址接口1011设置在编址电路1013的预设位置，所述编址电路1013用于电连接所述多旋翼无人机的飞行控制器30和电调；获取所述编址接口1011的电压大小；根据所述电压大小为所述电调编址。
具体的，编址电路1013可以是任何能够为电调的编址接口1011提供 一个经过分压后的电压的电路。例如在电调和飞行控制器30之间可以串联单一分压元件的电路，或者也可以是串联由不同分压电路组合而成的电路，或者也可以是设置有其他能够为编址接口1011提供一特定大小电压的其他电子元件或其组合的电路。
本实施例的电调编址方法，其工作原理是：当无人机启动时，飞行控制器30和电调分别为编址电路1013的两端提供一个高电平和一个低电平，从而使编址电路1013的两端具有压差，也即，使编址接口1011处具有一个分压后的电压值。然后，通过采集编址接口1011的电压大小即可根据该电压的大小在预设的电压-地址对应表中查找采集到的电压大小所对应的地址，并将该地址设置为电调的唯一通信地址。当然，也可以由多旋翼无人机的电源为该编址电路1013的两端提供压差。
通过本实施例的编址方法，就无需在电调的制作过程中对不同的电调烧录不同的编址程序，从而简化了制作电调、装配多旋翼无人机或者维修电调的过程，进而减少了时间，提高了效率、节省了成本，并避免了由于电调安装位置错误带来的安全隐患。
实施例3
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的电调编址方法是在实施例2的基础上所做的改进。继续参阅2，所述编址电路1013包括串联在一起的第一分压元件和第二分压元件；所述编址接口1011设置在所述第一分压元件和第二分压元件之间。
具体的，第一分压元件和第二分压元件可以是电阻或者其他具有分压功能的电子元器件，也即第一分压元件和第二分压元件也可以是其他消耗电能的电子元器件，例如LED灯。可以理解的是，第一分压元件和第二分压元件也可以是不同的两种电子元器件，但优选将第一分压元件和第二分压元件均设置成电阻，这样可以优化电路结构并节省成本。
此外，可以理解的是，为了给多旋翼无人机的多个电调分别分配唯一通信地址，每个电调与飞行控制器30之间电连接的编址电路1013中的第 一分压元件和第二分压元件经分压后必须使编址接口1011位置的电压值不相同。以电阻作为第一分压元件和第二分压元件的四旋翼无人机为例，可以将连接在四个电调和飞行控制器30之间的四条编址电路1013中的第一分压元件分别使用四个具有不同阻值的电阻R0、R1、R2、R34，而第二分压元件则使用四个具有相同阻值的电阻R4。这样，在每个编址接口1011处采集到的电压大小为：
Figure PCTCN2016097218-appb-000001
上式中，x表示0、1、2或3，Vx表示对应编址接口1011的电压，U表示编址电路1013两端的压差。从上式可以看出，每个电调所对应的编址接口1011的电压值均不相同。
一种可选的编址方式是：分别采集这四个编址接口1011处的电压，并根据每个编址接口1011采集到的电压来查找电压-通信地址一一映射表中与该电压对应的通信地址，并将查找到的通信地址设置为相应电调的唯一通信地址。
另一种可选的编址方式是：分别采集这四个编址接口1011处的电压，并将采集到的这四个编址接口1011的电压按照由小到大的顺序对应唯一通信地址，并将相应电压对应的唯一通信地址设置为该电压所在的编址接口1011所对应的电调的唯一通信地址。可以理解，也可以按照由大到小等其他规则来设置与四个编址接口1011相对应的电调的唯一通信地址。
以下简要介绍本实施例的多旋翼无人机的电调编址方法的工作原理：
当多旋翼无机及开机时，飞行控制器30和电调分别为编址电路1013的两端提供一个高电平和一个低电平，例如，飞行控制器30将编址电路1013与其电连接的一端拉低至GND，而电调将编址电路1013与其电连接的一端拉至高电平。这样第一分压元件和第二分压元件之间的编址接口1011就可以采集到一个电压，具体可以通过电调的AD引脚来采集该编址接口1011的电压。然后，电调的处理器101将采集来的编址接口1011处的电压与预设的电压进行比较，根据比较结果就可以为该电调编址。例如，当采集到的电压为1V时，查找到预设的电压-通信地址一一映射表中电压为1V时所对应的通信地址为1，则将该电压所在的编址接口1011对应的 电调的唯一通信地址设置为1。又例如，当采集到四旋翼无人机中四个编址接口1011的电压分别为1v、1.2v、1.1v和1.3v时，则可以按照电压由小到大的顺序为四个电调分别编址为0、2、1、3。
通过本实施例的方式对多旋翼无人机的电调进行编址，在装配过程中无需考虑每个电调在机架上的对应安装位置，而直接通过开机过程中采集编址接口1011的电压就可以根据该电压对电调进行编址，从而简化了整个装配的流程，节省了装配时间，并避免了由于电调安装位置错误带来的安全隐患。当然，这样的编址方式，对于多旋翼无人机电调的维修也是一样的，也即，在维修过程中安装电调时，电调可以安装在机架上的任意电调安装位置，而无需考虑该位置与电调通信地址的唯一对应性。这样就极大的提高了电调维修的效率，节省了成本，并避免了由于电调安装位置错误带来的安全隐患。
实施例4
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的电调编址方法是在实施例2、或3的基础上所做的改进。继续参阅2，所述第一分压元件集成在所述飞行控制器30上，或者集成在用于连接所述飞行控制器30和电调的连接线上。
具体的，将第一分压元件集成在飞行控制器30上，可以是将第一分压元件，例如电阻，直接布线在飞行控制器30的印刷电路板上；或者也可以是将第一分压元件焊接到飞行控制器30的电路板上；或者还可以是通过连接线将第一分压元件连接到飞行控制器30上并与飞行控制器30封装在一起。通过将第一分压元件集成在飞行控制器30上，可以使第一分压元件与飞行控制器30的接触更好，避免接触不良导致无法采集到编址接口1011的电压或者采集到的电压不准造成无法对飞行控制器30进行准确编址的问题。并且，通过上述方式还能够通过飞行控制器30的外壳来保护第一分压元件，从而避免其损坏，进而提高使用寿命。而且，还可以将编址接口1011设置在飞行控制器30内，从而减少外部连线以避免外部 连线损坏所造成的无法编址的不良后果。同时，这种将第一分压元件集成在飞行控制器30上的方式对现有的加工方式和生产线不会带来很大的影响，也就无需对生产线进行过多的改造，从而可以降低升级的成本。
另外，将第一分压元件集成在连接飞行控制器30和电调的连接线上可以是直接在连接电调和飞行控制器30的连接线上串联上第一分压元件，从而使得连接线整体上包含第一分压元件。通过将第一分压元件集成在连接线上的方式可以大幅度的降低现有无人机的改造成本，仅仅换一根连接线就可以实现无人机的升级，非常的方便简单易于操作，且成本低廉。
实施例5
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器30的控制。
本实施例的电调编址方法是在实施例2、或3、或4的基础上所做的改进。继续参阅2，所述第二分压元件集成在所述电调上，或者集成在用于连接所述飞行控制器30和电调的连接线上。
具体的，将第二分压元件集成在电调上，可以是将第二分压元件，例如电阻，直接布线在电调的印刷电路板上；或者也可以是将第二分压元件焊接到电调的印刷电路板上；或者还可以是通过连接线将第二分压元件连接到电调上并与电调封装在一起。通过将第二分压元件集成在电调上，可以使第二分压元件与电调的接触更好，避免接触不良导致无法采集到编址接口1011的电压或者采集到的电压不准造成无法对电调进行准确编址的问题。并且，通过上述方式还能够通过电调的外壳来保护第二分压元件，从而避免其损坏，进而提高使用寿命。而且，还可以将编址接口1011设置在电调内，从而减少外部连线以避免外部连线损坏所造成的无法编址的不良后果。同时，这种将第二分压元件集成在电调上的方式对现有的加工方式和生产线不会带来很大的影响，也就无需对生产线进行过多的改造，从而可以降低升级的成本。
另外，将第二分压元件集成在连接电调和电调的连接线上可以是直接在连接电调和电调的连接线上串联上第二分压元件，从而使得连接线整体 上包含第二分压元件。通过将第二分压元件集成在连接线上的方式可以大幅度的降低现有无人机的改造成本，仅仅换一根连接线就可以实现无人机的升级，非常的方便简单易于操作，且成本低廉。
进一步，当第一分压元件集成在飞行控制器30上，并且第二分压元件集成在电调上时，这种无人机从外观和以及电调的装配上与现有的无人机的装配没有任何区别，因此，具有非常好的适应性。当然，将第一分压元件和第二分压元件全部集成在用于连接电调和飞行控制器30的连接线上时也是一样的。
实施例6
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的电调编址方法是在实施例2、或3、或4、或5的基础上所做的改进。继续参阅2，与每个电调集成的第二分压元件均为相同阻值的电阻。
本实施例的多旋翼无人机的电调编址方法，通过在每个电调内集成相同阻值的电阻，这样电调就可以按照统一规格进行制造，也即无需像现有技术一样在每个电调上烧录不同的程序从而制造多种不同软件规格的产品，也无需制造多种包括不同分压制的第二分压元件的产品，从而可以提高电调的加工效率并降低其加工成本。
实施例7
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的电调编址方法是在实施例2、或3、或4、或5、或6的基础上所做的改进。继续参阅2，所述编址电路的一端与所述飞行控制器30的数据接口连接，另一端与所述电调的数据接口连接。
具体的，在一种可选的实施方式中，编址电路1013的一端与飞行控 制器30的RX接口连接，另一端与电调的TX接口连接。
在第二种可选的实施方式中，编址电路1013的一端与飞行控制器30的TX接口连接，另一端与电调的RX接口连接。
在第三种可选的实施方式中，编址电路1013的一端与飞行控制器30的TX/RX接口连接，另一端与电调的RX/TX接口连接。
本实施例的多旋翼无人机的编址方法，将编址电路1013设置在飞行控制器30和电调的通讯接口上，从而可以使用飞行控制器30和电调现有的用于进行通信的总线，这样可以减少外部线路连接，提高系统的稳定性。
实施例8
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
图3为本实施例提供的用于多旋翼无人机中电调的控制系统与飞行控制器连接时的结构示意图。
如图3所示，本实施例的电调编址方法是在实施例1的基础上所做的改进，其中，所述编址接口1011包括为所述电调配置的第一IO接口和第二IO接口，根据所述第一IO接口和第二IO接口的电平信息为所述电调编址。
具体的，在每一个电调上均配置第一IO接口和第二IO接口，并且将第一IO接口和第二IO接口设置成输入模式。可以理解，这两个IO接口可以单独设置，并与处理器101通讯连接；或者直接在处理器101上设置。举例来说，可以在处理器101的单片机上配置两个作为输入的IO接口，这样通过单片机就可以直接读取两个IO接口输入的电平信息，例如电平的高低及其顺序。
一种可选的编址方式是：当多旋翼无人机启动时，采集第一IO接口和第二IO接口分别输入的电平信号，根据这两个IO接口的电平信号和顺序通过查找预设的电平高低、顺序-通信地址地址一一映射表中查找与该电调两个IO接口电平高低和顺序相对应的通信地址，并将该通信地址设置为相应电调的唯一通信地址。
另一种可选的编址方式是：以四旋翼无人机为例，为四旋翼无人机的每一个电调均配置两个输入模式的IO接口，例如选取每个电调的处理器101中单片机的两个IO接口作为编址接口1011。当四旋翼无人机启动时，采集每个电调的第一IO接口和第二IO接口的电平信息，例如采集到的四个电调的两个IO接口的电平信息如下：
IO1接GND，IO2接GND
IO1接3.3V，IO2接GND
IO1接GND，IO2接3.3V
IO1接3.3V，IO2接3.3V
根据检测到的以上电平信息就可以根据预设规则为四个电调分别编号，例如，以上四个电调可以分别编为0、1、2和3，或者也可以编号为3、2、1和0，而上述编号也即为四个电调分别设置的唯一通信地址。
本实施例的多旋翼无人机的电调编址方法，通过配置两个IO接口作为编址接口1011并根据检测到的这两个IO接口的电平信息为相应的电调设置唯一的通信地址，无需增加器件，从而可以降低升级的成本。本实施例的电调编址方法尤其适合多个电调集成在一起的情况。
实施例9
本实施例提供一种多旋翼无人机的电调编址方法，用于通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器30的控制。
本实施例的电调编址方法是在实施例8的基础上所做的改进。继续参考图3，所述编址接口1011还包括为所述电调配置的第三IO接口，根据所述第一IO接口、第二IO接口和第三IO接口的电平信息为所述电调编址。
具体的，在每一个电调上均配置第一IO接口、第二IO接口和第三IO接口，并且将第一IO接口、第二IO接口和第三IO接口均设置成输入模式。可以理解，这三个IO接口也可以单独设置，并与处理器101通讯连接；或者直接设置在处理器101上。举例来说，可以在处理器101的单片机上配置三个作为输入的IO接口，这样通过单片机就可以直接读取这三 个IO接口输入的电平信息，例如电平的高低以及顺序。
一种可选的编址方式是：当多旋翼无人机启动时，采集第一IO接口、第二IO接口和第三IO接口分别输入的电平信号，根据这三个IO接口的电平信号和顺序通过查找预设的电平高低、顺序-通信地址一一映射表中查找与该电调两个IO接口电平高低和顺序相对应的通信地址，并将该通信地址设置为相应电调的唯一通信地址。
另一种可选的编址方式是：以六旋翼无人机为例，为六旋翼无人机的每一个电调均配置三个输入模式的IO接口，例如选取每个电调处理器101中单片机的三个IO接口作为编址接口1011。当六旋翼无人机启动时，采集每个电调的第一IO接口、第二IO接口和第三IO接口的电平信息，例如采集到的六个电调的三个IO接口的电平信息如下：
IO1接GND，IO2接GND，IO3接GND
IO1接3.3V，IO2接GND，IO3接GND
IO1接GND，IO2接3.3V，IO3接GND
IO1接GND，IO2接3.3V，IO3接3.3V
IO1接3.3V，IO2接3.3V，IO2接GND
IO1接3.3V，IO2接GND，IO2接3.3V
根据检测到的以上电平信息就可以根据预设规则为六个电调分别编号，例如，以上六个电调可以分别编为0、1、2、3、4和5，或者也可以编号为5、4、3、2、1和0，而上述编号也即为六个电调分别设置的唯一通信地址。
本实施例的多旋翼无人机的电调编址方法，通过配置三个IO接口作为编址接口1011并根据检测到的这三个IO接口的电平信息为相应的电调设置唯一的通信地址。本实施例的电调编址方法仅仅通过配置IO接口即可实现电调从物理层面进行编址，无需增加硬件，可以极大的节约成本。并且，通过增加一个IO接口，就能够使编址的电调数量成倍的增加，非常适合多旋翼无人机编址。
实施例10
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件 检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
请参阅图1、图2和图3，本实施例的控制系统包括：一个或多个处理器101，单独地或共同地工作，所述处理器101用于：获取所述编址接口1011的特征信息；根据所述编址接口1011的特征信息为所述电调编址。
具体的，处理器101除了需要设置编址接口1011外，其他结构可以与现有技术中的任意类型的处理器101相同。
本实施例中的编址接口1011可以是物理意义上的任何接口，例如线与线的连接点、电路的特定位点，以及信息传输位点。举例来说，编址接口1011可以是电调与无人机上其他部件进行通信或者供电线路上的特定位置，也可以是处理器101或者集成在处理器101的单片机上的通信接口。也即是说，本实施例的编址接口1011可以是单独设置的，并且与处理器101通讯连接；或者也可以设置在电调的处理器101上。
而在本实施例中，从特征接口处获得的特征信息可以是能够为电调编址的任何信息，例如可以是电压信息、电流信息或者上电时间信息。进一步，为了简化操作，上述特征信息优选为电压信息、上电时间信息中的至少一种。其中，电压信息可以是电压的大小、电平的高低及顺序中的一种或者多种。
举例来说，可以通过与编址接口1011电连接的处理器101中的AD引脚来读取编址接口1011的电压信息，或者通过处理器101中的单片机来获取编址接口1011的电平信息，或者还可以通过触发器或者计时器来获取特征接口的上电时间信息。并且，可以理解的是，上述AD引脚、单片机、触发器或者计时器也可以是处理器101外部的电子元器件。
而当获取到编址接口1011的特征信息以后即可根据该特征信息为电调编址。例如，当特征信息为编址接口1011的电压大小时，则可以在预设的电压-通信地址一一映射表中查找该电压所对应的地址，并将查找到的地址设置为该电调的唯一通信地址，以使其能准确的响应无人机中飞行控制器30的控制。或者，也可以将从多个电调的编址接口1011获取到的电压进行大小排序，根据由大到小或者由小到大的顺序分别给电调相对应的唯一通信地址，从而实现电调的编址。
此外，还需说明的是，本实施例中多旋翼无人机的所有电调可以集成在一块电路板上，也可以是多块电调电路板并分散在无人机机架的不同位置。以四旋翼无人机为例，分别控制四个旋翼工作的四个电调的电路板可以分散在机架的前、后、左、右四个位置，或者全部集成在一块印刷电路板，这个印刷电路板可以是专门用于集成多旋翼无人机电调的，也可以是多旋翼无人机的飞行控制板。
进一步，在一个优选的实施方式中，处理器101还用于获取所述多旋翼无人机中电调的编址情况，当有两个电调的编址相同时进行报警。
具体的，为了避免系统软件或者硬件错误致使多旋翼无人机中有多个电调在经过上述处理器101对电调进行编址后出现地址相同的情况，使得无人机在飞行过程中出现控制错误，进而导致无人机的损毁或者造成人员的伤害。那么就可以通过监控多旋翼无人机的电调编址情况从而避免出现上述事故。
例如，可以通过电调自身的处理器101或者附加的监控器来监控多旋翼无人机中每个电调的地址，当通过比较发现有两个电调的编址相同时则通过电调的处理器101、或者飞行控制器30或者其他报警装置进行报警。优选地，为了无人机和人员的安全，在报警的同时，由飞行控制器30切断或者电调切断电源对电调的供应，或者也可以由电调直接控制电机停止运转，从而避免无人机螺旋桨的损坏或者人员的伤害。
此外，基于以上所描述的用于多旋翼无人机中电调的控制系统，还需要另外说明一点，在处理器101对电调编址后，可以将为电调设置的唯一通信地址储存在一个电调或者多个电调的处理器101中。当更换多旋翼无人机的某个或某些电调时，则可以仅对更换的电调进行编址，从而可以节省编址的时间，提高多旋翼无人机的启动效率。
例如当多旋翼无人机只更换一个电调时，可以通过读取多旋翼无人机中未更换电调的通信地址，并将上述通信地址锁定，而为更换的电调分配唯一通信地址，这个分配的通信地址可以是被更换电调原来的通信地址，也可以是不同于原来被更换电调的原通信地址。也即，本实施例的控制系统中的处理器101还用于：获取未更换电调的通信地址，并将获取到的通信地址锁定；为更换的电调配置唯一通信地址。所述为更换的电调配置唯 一通信地址包括：根据获取到的所述通信地址为多旋翼无人机中更换的单个电调进行编址。
又例如当多旋翼无人机中有多个电调进行更换时，也可以读取多旋翼无人机中未更换电调的通信地址，并将这些通信地址锁定，再根据上述处理器101对电调的编址方法对更换后的电调进行编址。当然也可以直接重新对多旋翼无人机中所有的电调通过处理器101重新进行编址。也即，本实施例的控制系统中的处理器101还用于：获取未更换电调的通信地址，并将获取到的所述通信地址锁定；为更换的电调配置唯一通信地址。所述为更换的电调配置唯一通信地址包括：为已更换电调配置编址接口1011；获取所述编址接口1011的特征信息；根据所述特征信息为所述已更换电调编址。
本实施例的用于多旋翼无人机中电调的控制系统，通过电调的处理器101获取编址接口1011的特征信息来对相应的电调进行编址。这样在制造电调的过程中就无需通过烧录不同的程序来为不同的电调进行编址，而由无人机自行识别并对其安装的所有电调进行编址，从而简化了电调的制造过程。并且，通过本方法对多旋翼无人机的电调进行编址打破了现有技术中烧录有唯一通信地址的电调需要安装在无人机上与该通信地址唯一对应的位置上，也即打破了多旋翼无人机电调与安装位置的这种特定对应关系，使得多旋翼无人机中任意一个电调可以安装在机架任意一个电调安装位置而不会出现电调无法准确响应无人机飞行控制器30控制的问题。这也就极大的降低了无人机装配过程或者维修过程的难度，提高了装配或者维修的效率，进而节省了成本，并避免了由于电调安装位置错误所带来的安全隐患。
实施例11
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例10的基础上所做的改进。请参阅图2，编址接口1011设置在编址电路1013的预设位置，所述编址电路1013 用于电连接所述多旋翼无人机的飞行控制器30和电调；获取所述编址接口1011的电压大小；根据所述电压大小为所述电调编址。
具体的，编址电路1013可以是任何能够为电调的编址接口1011提供一个经过分压后的电压的电路。例如在电调和飞行控制器30之间可以串联单一分压元件的电路，或者也可以是串联由不同分压电路组合而成的电路，或者也可以是设置有其他能够为编址接口1011提供一特定大小电压的其他电子元件或其组合的电路。
本实施例的控制系统，其工作原理是：当无人机启动时，飞行控制器30和电调分别为编址电路1013的两端提供一个高电平和一个低电平，从而使编址电路1013的两端具有压差，也即，使编址接口1011处具有一个分压后的电压值。然后，处理器101采集编址接口1011的电压大小即可根据该电压的大小在预设的电压-地址对应表中查找采集到的电压大小所对应的地址，并将该地址设置为电调的唯一通信地址。当然，也可以由多旋翼无人机的电源为该编址电路1013的两端提供压差。
通过本实施例的控制系统，就无需在电调的制作过程中对不同的电调烧录不同的编址程序，从而简化了制作电调、装配多旋翼无人机或者维修电调的过程，进而减少了时间，提高了效率、节省了成本，并避免了由于电调安装位置错误带来的安全隐患。
实施例12
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例11的基础上所做的改进。请参阅图2，所述编址电路1013包括串联在一起的第一分压元件和第二分压元件；所述编址接口1011设置在所述第一分压元件和第二分压元件之间。
具体的，第一分压元件和第二分压元件可以是电阻或者其他具有分压功能的电子元器件，也即第一分压元件和第二分压元件也可以是其他消耗电能的电子元器件，例如LED灯。可以理解的是，第一分压元件和第二分压元件也可以是不同的两种电子元器件，但优选将第一分压元件和第二 分压元件均设置成电阻，这样可以优化电路结构并节省成本。
此外，可以理解的是，为了给多旋翼无人机的多个电调分别分配唯一通信地址，每个电调与飞行控制器30之间电连接的编址电路1013中的第一分压元件和第二分压元件经分压后必须使编址接口1011位置的电压值不相同。以电阻作为第一分压元件和第二分压元件的四旋翼无人机为例，可以将连接在四个电调和飞行控制器30之间的四条编址电路1013中的第一分压元件分别使用四个具有不同阻值的电阻R0、R1、R2、R34，而第二分压元件则使用四个具有相同阻值的电阻R4。这样，在每个编址接口1011处采集到的电压大小为：
Figure PCTCN2016097218-appb-000002
上式中，x表示0、1、2或3，Vx表示对应编址接口1011的电压，U表示编址电路1013两端的压差。从上式可以看出，每个电调所对应的编址接口1011的电压值均不相同。
一种可选的编址方式是：分别采集这四个编址接口1011处的电压，并根据每个编址接口1011采集到的电压来查找电压-通信地址一一映射表中与该电压对应的通信地址，并将查找到的通信地址设置为相应电调的唯一通信地址。
另一种可选的编址方式是：分别采集这四个编址接口1011处的电压，并将采集到的这四个编址接口1011的电压按照由小到大的顺序对应唯一通信地址，并将相应电压对应的唯一通信地址设置为该电压所在的编址接口1011所对应的电调的唯一通信地址。可以理解，也可以按照由大到小等其他规则来设置与四个编址接口1011相对应的电调的唯一通信地址。
以下简要介绍本实施例的用于多旋翼无人机中电调的控制系统的工作原理：
当多旋翼无机及开机时，飞行控制器30和电调分别为编址电路1013的两端提供一个高电平和一个低电平，例如，飞行控制器30将编址电路1013与其电连接的一端拉低至GND，而电调将编址电路1013与其电连接的一端拉至高电平。这样第一分压元件和第二分压元件之间的编址接口1011就可以采集到一个电压，具体可以通过处理器101中的AD引脚来采 集该编址接口1011的电压。然后，电调的处理器101将采集来的编址接口1011处的电压与预设的电压进行比较，根据比较结果就可以为该电调编址。例如，当采集到的电压为1V时，查找到预设的电压-通信地址一一映射表中电压为1V时所对应的通信地址为1，则将该电压所在的编址接口1011对应的电调的唯一通信地址设置为1。又例如，当采集到四旋翼无人机中四个编址接口1011的电压分别为1v、1.2v、1.1v和1.3v时，则可以按照电压由小到大的顺序为四个电调分别编址为0、2、1、3。
通过本实施例的控制系统对多旋翼无人机的电调进行编址，在装配过程中无需考虑每个电调在机架上的对应安装位置，而直接通过开机过程中采集编址接口1011的电压就可以根据该电压对电调进行编址，从而简化了整个装配的流程，节省了装配时间，并避免了由于电调安装位置错误带来的安全隐患。当然，这样的编址方式，对于多旋翼无人机电调的维修也是一样的，也即，在维修过程中安装电调时，电调可以安装在机架上的任意电调安装位置，而无需考虑该位置与电调通信地址的唯一对应性。这样就极大的提高了电调维修的效率，节省了成本，并避免了由于电调安装位置错误带来的安全隐患。
实施例13
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例11、或12的基础上所做的改进。请参阅图2，所述第一分压元件集成在所述飞行控制器30上，或者集成在用于连接所述飞行控制器30和电调的连接线上。
具体的，将第一分压元件集成在飞行控制器30上，可以是将第一分压元件，例如电阻，直接布线在飞行控制器30的印刷电路板上；或者也可以是将第一分压元件焊接到飞行控制器30的电路板上；或者还可以是通过连接线将第一分压元件连接到飞行控制器30上并与飞行控制器30封装在一起。通过将第一分压元件集成在飞行控制器30上，可以使第一分压元件与飞行控制器30的接触更好，避免接触不良导致无法采集到编址 接口1011的电压或者采集到的电压不准造成无法对飞行控制器30进行准确编址的问题。并且，通过上述方式还能够通过飞行控制器30的外壳来保护第一分压元件，从而避免其损坏，进而提高使用寿命。而且，还可以将编址接口1011设置在飞行控制器30内，从而减少外部连线以避免外部连线损坏所造成的无法编址的不良后果。同时，这种将第一分压元件集成在飞行控制器30上的方式对现有的加工方式和生产线不会带来很大的影响，也就无需对生产线进行过多的改造，从而可以降低升级的成本。
另外，将第一分压元件集成在连接飞行控制器30和电调的连接线上可以是直接在连接电调和飞行控制器30的连接线上串联上第一分压元件，从而使得连接线整体上包含第一分压元件。通过将第一分压元件集成在连接线上的方式可以大幅度的降低现有无人机的改造成本，仅仅换一根连接线就可以实现无人机的升级，非常的方便简单易于操作，且成本低廉。
实施例14
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例11、或12、或13的基础上所做的改进。请参阅图2，所述第二分压元件集成在所述电调上，或者集成在用于连接所述飞行控制器30和电调的连接线上。
具体的，将第二分压元件集成在电调上，可以是将第二分压元件，例如电阻，直接布线在电调的印刷电路板上；或者也可以是将第二分压元件焊接到电调的印刷电路板上；或者还可以是通过连接线将第二分压元件连接到电调上并与电调封装在一起。通过将第二分压元件集成在电调上，可以使第二分压元件与电调的接触更好，避免接触不良导致无法采集到编址接口1011的电压或者采集到的电压不准造成无法对电调进行准确编址的问题。并且，通过上述方式还能够通过电调的外壳来保护第二分压元件，从而避免其损坏，进而提高使用寿命。而且，还可以将编址接口1011设置在电调内，从而减少外部连线以避免外部连线损坏所造成的无法编址的不良后果。同时，这种将第二分压元件集成在电调上的方式对现有的加工 方式和生产线不会带来很大的影响，也就无需对生产线进行过多的改造，从而可以降低升级的成本。
另外，将第二分压元件集成在连接电调和电调的连接线上可以是直接在连接电调和电调的连接线上串联上第二分压元件，从而使得连接线整体上包含第二分压元件。通过将第二分压元件集成在连接线上的方式可以大幅度的降低现有无人机的改造成本，仅仅换一根连接线就可以实现无人机的升级，非常的方便简单易于操作，且成本低廉。
进一步，当第一分压元件集成在飞行控制器30上，并且第二分压元件集成在电调上时，这种无人机从外观和以及电调的装配上与现有的无人机的装配没有任何区别，因此，具有非常好的适应性。当然，将第一分压元件和第二分压元件全部集成在用于连接电调和飞行控制器30的连接线上时也是一样的。
实施例15
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例11、或12、或13、或14的基础上所做的改进。请参阅图2，与每个电调集成的第二分压元件均为相同阻值的电阻。
本实施例的控制系统，通过在每个电调内集成相同阻值的电阻，这样电调就可以按照统一规格进行制造，也即无需像现有技术一样在每个电调上烧录不同的程序从而制造多种不同软件规格的产品，也无需制造多种包括不同分压制的第二分压元件的产品，从而可以提高电调的加工效率并降低其加工成本。
实施例16
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例11、或12、或13、或14、或15的基础上所做的改进。请参阅图2，所述编址电路1013的一端与所述飞行控制器30的数据接口连接，另一端与所述电调的数据接口连接。
具体的，在一种可选的实施方式中，编址电路1013的一端与飞行控制器30的RX接口连接，另一端与电调的TX接口连接。
在第二种可选的实施方式中，编址电路1013的一端与飞行控制器30的TX接口连接，另一端与电调的RX接口连接。
在第三种可选的实施方式中，编址电路1013的一端与飞行控制器30的TX/RX接口连接，另一端与电调的RX/TX接口连接。
本实施例的控制系统，将编址电路1013设置在飞行控制器30和电调的通讯接口上，从而可以使用飞行控制器30和电调现有的用于进行通信的总线，这样可以减少外部线路连接，提高系统的稳定性。
实施例17
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例10的基础上所做的改进。请参阅图3，所述编址接口1011包括为所述电调配置的第一IO接口和第二IO接口，根据所述第一IO接口和第二IO接口的电平信息为所述电调编址。
具体的，在每一个电调上均配置第一IO接口和第二IO接口，并且将第一IO接口和第二IO接口设置成输入模式。可以理解，这两个IO接口可以单独设置，并与处理器101通讯连接；或者直接在处理器101上设置。举例来说，可以在处理器101的单片机上配置两个作为输入的IO接口，这样通过单片机就可以直接读取两个IO接口输入的电平信息，例如电平的高低及其顺序。
一种可选的编址方式是：当多旋翼无人机启动时，处理器101采集第一IO接口和第二IO接口分别输入的电平信号，根据这两个IO接口的电平信号和顺序通过查找预设的电平高低、顺序-通信地址地址一一映射表中查找与该电调两个IO接口电平高低和顺序相对应的通信地址，并将该通 信地址设置为相应电调的唯一通信地址。
另一种可选的编址方式是：以四旋翼无人机为例，为四旋翼无人机的每一个电调均配置两个输入模式的IO接口，例如选取每个电调的处理器101中单片机的两个IO接口作为编址接口1011。当四旋翼无人机启动时，采集每个电调的第一IO接口和第二IO接口的电平信息，例如采集到的四个电调的两个IO接口的电平信息如下：
IO1接GND，IO2接GND
IO1接3.3V，IO2接GND
IO1接GND，IO2接3.3V
IO1接3.3V，IO2接3.3V
根据检测到的以上电平信息，处理器101就可以根据预设规则为四个电调分别编号，例如，以上四个电调可以分别编为0、1、2和3，或者也可以编号为3、2、1和0，而上述编号也即为四个电调分别设置的唯一通信地址。
本实施例的控制系统，通过配置两个IO接口作为编址接口1011并根据检测到的这两个IO接口的电平信息为相应的电调设置唯一的通信地址，无需增加器件，从而可以降低升级的成本。本实施例的控制系统尤其适合多个电调集成在一起的情况。
实施例18
本实施例提供一种用于多旋翼无人机中电调的控制系统，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
本实施例的控制系统是在实施例17的基础上所做的改进。请参阅图3，所述编址接口1011还包括为所述电调配置的第三IO接口，根据所述第一IO接口、第二IO接口和第三IO接口的电平信息为所述电调编址。
具体的，在每一个电调上均配置第一IO接口、第二IO接口和第三IO接口，并且将第一IO接口、第二IO接口和第三IO接口均设置成输入模式。可以理解，这三个IO接口也可以单独设置，并与处理器101通讯连接；或者直接设置在处理器101上。举例来说，可以在处理器101的单片 机上配置三个作为输入的IO接口，这样通过单片机就可以直接读取这三个IO接口输入的电平信息，例如电平的高低以及顺序。
一种可选的编址方式是：当多旋翼无人机启动时，处理器101采集第一IO接口、第二IO接口和第三IO接口分别输入的电平信号，根据这三个IO接口的电平信号和顺序通过查找预设的电平高低、顺序-通信地址一一映射表中查找与该电调两个IO接口电平高低和顺序相对应的通信地址，并将该通信地址设置为相应电调的唯一通信地址。
另一种可选的编址方式是：以六旋翼无人机为例，为六旋翼无人机的每一个电调均配置三个输入模式的IO接口，例如选取每个电调处理器101中单片机的三个IO接口作为编址接口1011。当六旋翼无人机启动时，处理器101采集每个电调的第一IO接口、第二IO接口和第三IO接口的电平信息，例如采集到的六个电调的三个IO接口的电平信息如下：
IO1接GND，IO2接GND，IO3接GND
IO1接3.3V，IO2接GND，IO3接GND
IO1接GND，IO2接3.3V，IO3接GND
IO1接GND，IO2接3.3V，IO3接3.3V
IO1接3.3V，IO2接3.3V，IO2接GND
IO1接3.3V，IO2接GND，IO2接3.3V
根据检测到的以上电平信息，处理器101就可以根据预设规则为六个电调分别编号，例如，以上六个电调可以分别编为0、1、2、3、4和5，或者也可以编号为5、4、3、2、1和0，而上述编号也即为六个电调分别设置的唯一通信地址。
本实施例的多旋翼无人机的控制系统，通过配置三个IO接口作为编址接口1011并根据检测到的这三个IO接口的电平信息为相应的电调设置唯一的通信地址。本实施例的控制系统仅仅通过配置IO接口即可实现电调从物理层面进行编址，无需增加硬件，可以极大的节约成本。并且，通过增加一个IO接口，就能够使编址的电调数量成倍的增加，非常适合多旋翼无人机编址。
实施例19
本实施例提供一种电调，其通过硬件检测的方式为多旋翼无人机的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
请参阅图1、图2和图3，本实施例的电调，包括上述实施例10-18中任意一项实施例的控制系统和外壳；所述控制系统安装在所述外壳内，且所述控制系统包括一个或多个处理器101，单独地或共同地工作，所述处理器101用于：获取所述编址接口1011的特征信息；根据所述编址接口1011的特征信息为所述电调编址。
具体的，外壳可以是现有电调所使用的任意类型的外壳，例如金属材质的外壳，或者是塑料通过注塑工艺制成的外壳。具体的，外壳围成了一个空腔，从而可以将控制系统安装在该空腔内以便于固定和保护控制系统。
本实施例中控制系统的结构、工作原理和效果与实施例10-18中任意一个实施例中所描述的控制系统的结构、工作原理和效果相同，具体可参见上述实施例10-18；当然，也可同时参看上述实施例1-9中所描述的电调编址方法，在此不再进行赘述。
本实施例的电调，通过处理器101获取编址接口1011的特征信息来对相应的电调进行编址。这样在制造电调的过程中就无需通过烧录不同的程序来为不同的电调进行编址，而由无人机自行识别并对其安装的所有电调进行编址，从而简化了电调的制造过程。并且，通过本方法对多旋翼无人机的电调进行编址打破了现有技术中烧录有唯一通信地址的电调需要安装在无人机上与该通信地址唯一对应的位置上，也即打破了多旋翼无人机电调与安装位置的这种特定对应关系，使得多旋翼无人机中任意一个电调可以安装在机架任意一个电调安装位置而不会出现电调无法准确响应无人机飞行控制器30控制的问题。这也就极大的降低了无人机装配过程或者维修过程的难度，提高了装配或者维修的效率，进而节省了成本，并避免了由于电调安装位置错误所带来的安全隐患。
实施例20
本实施例提供一种动力系统，其通过硬件检测的方式为多旋翼无人机 的每个电调设置唯一通信地址，以使多旋翼无人机的每个电调都能够准确响应飞行控制器的控制。
请参阅图1、图2和图3，本实施例的动力系统，包括：上述实施例19的电调，以及电机；所述电调与所述电机通信连接，用于控制所述电机的工作状态；所述电调包括安装在外壳内的控制系统；所述控制系统包括一个或多个处理器101，单独地或共同地工作，所述处理器101用于：获取所述编址接口1011的特征信息；根据所述编址接口1011的特征信息为所述电调编址。
具体的，电机可以是现有多旋翼无人机中使用的任意类型的电机，在此不作具体限制。而本实施例的电调除需要配置以下形式的特征接口外其他结构也可以和现有技术中的电调的结构相同。
本实施例中电调的结构、工作原理和效果与实施例19中所描述的电调的结构、工作原理和效果相同，具体可参见上述各项实施例，在此不再进行赘述。
本实施例的动力系统，通过电调的处理器101获取编址接口1011的特征信息来对相应的电调进行编址。这样在制造电调的过程中就无需通过烧录不同的程序来为不同的电调进行编址，而由无人机自行识别并对其安装的所有电调进行编址，从而简化了电调的制造过程。并且，通过本方法对多旋翼无人机的电调进行编址打破了现有技术中烧录有唯一通信地址的电调需要安装在无人机上与该通信地址唯一对应的位置上，也即打破了多旋翼无人机电调与安装位置的这种特定对应关系，使得多旋翼无人机中任意一个电调可以安装在机架任意一个电调安装位置而不会出现电调无法准确响应无人机飞行控制器30控制的问题。这也就极大的降低了无人机装配过程或者维修过程的难度，提高了装配或者维修的效率，进而节省了成本，并避免了由于电调安装位置错误所带来的安全隐患。
实施例21
本实施例提供一种多旋翼无人机，其通过硬件检测的方式为每个电调设置唯一通信地址，以使每个电调都能够准确响应飞行控制器的控制。
图4为本实施例提供的多旋翼无人机的结构示意图。
参阅图4，并请一并参阅图1、图2和图3，本实施例的多旋翼无人机1，包括：机架50；多个上述实施例20的动力系统10，分别设于所述机架50上；飞行控制器30，与所述动力系统10的电调通讯连接；其中，所述飞行控制器30发送油门信号给所述电调，所述电调根据所述油门信号控制所述电机的转速，为所述多旋翼无人机1提供飞行动力。
具体的，机架50可以是现有多旋翼无人机使用的任意类型的机架。飞行控制器30除了以下所描述的区别外其他结构可以与现有技术中的飞行控制器的结构相同。
本实施例中动力系统10的结构、工作原理和效果与实施例20中所描述的动力系统的结构、工作原理和效果相同，具体可参见上述各项实施例，在此不再进行赘述。
本实施例的多旋翼无人机，通过电调的处理器101获取编址接口1011的特征信息来对相应的电调进行编址。这样在制造电调的过程中就无需通过烧录不同的程序来为不同的电调进行编址，而由无人机自行识别并对其安装的所有电调进行编址，从而简化了电调的制造过程。并且，通过本方法对多旋翼无人机1的电调进行编址打破了现有技术中烧录有唯一通信地址的电调需要安装在无人机上与该通信地址唯一对应的位置上，也即打破了多旋翼无人机1电调与安装位置的这种特定对应关系，使得多旋翼无人机1中任意一个电调可以安装在机架50任意一个电调安装位置而不会出现电调无法准确响应无人机飞行控制器30控制的问题。这也就极大的降低了无人机装配过程或者维修过程的难度，提高了装配或者维修的效率，进而节省了成本，并避免了由于电调安装位置错误所带来的安全隐患。
以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本申请保护范围内的等同实施例。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以 集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器101(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (65)

  1. 一种多旋翼无人机的电调编址方法，其特征在于，包括以下步骤：
    为所述电调配置编址接口；
    获取所述编址接口的特征信息；
    根据所述编址接口的特征信息为所述电调编址。
  2. 根据权利要求1所述的电调编址方法，其特征在于，所述特征信息为电压、上电时间中的至少一种。
  3. 根据权利要求2所述的电调编址方法，其特征在于，
    所述编址接口设置在编址电路的预设位置，所述编址电路用于电连接所述多旋翼无人机的飞行控制器和电调；
    获取所述编址接口的电压大小；
    根据所述电压大小为所述电调编址。
  4. 根据权利要求3所述的电调编址方法，其特征在于，
    所述编址电路包括串联在一起的第一分压元件和第二分压元件；
    所述编址接口设置在所述第一分压元件和第二分压元件之间。
  5. 根据权利要求4所述的电调编址方法，其特征在于，所述第一分压元件，和/或，所述第二分压元件为电阻。
  6. 根据权利要求4所述的电调编址方法，其特征在于，所述第一分压元件集成在所述飞行控制器上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  7. 根据权利要求4所述的电调编址方法，其特征在于，所述第二分压元件集成在所述电调上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  8. 根据权利要求4所述的电调编址方法，其特征在于，与每个电调集成的第二分压元件均为相同阻值的电阻。
  9. 根据权利要求3所述的电调编址方法，其特征在于，所述编址电路的一端与所述飞行控制器的数据接口连接，另一端与所述电调的数据接口连接。
  10. 根据权利要求9所述的电调编址方法，其特征在于，所述飞行控制器的数据接口为RX接口，相应的，所述电调的数据接口为TX接口。
  11. 根据权利要求9所述的电调编址方法，其特征在于，所述飞行控制 器的数据接口为TX接口，相应的，所述电调的数据接口为RX接口。
  12. 根据权利要求2所述的电调编址方法，其特征在于，所述编址接口包括为所述电调配置的第一IO接口和第二IO接口，根据所述第一IO接口和第二IO接口的电平信息为所述电调编址。
  13. 根据权利要求12所述的电调编址方法，其特征在于，所述编址接口还包括为所述电调配置的第三IO接口，根据所述第一IO接口、第二IO接口和第三IO接口的电平信息为所述电调编址。
  14. 根据权利要求12或13所述的电调编址方法，其特征在于，所述电平信息包括：电平的高低及其排列顺序。
  15. 根据权利要求2所述的电调编址方法，其特征在于，所述编址接口为所述电调与所述多旋翼无人机电源电连接的供电接口，根据所述供电接口的上电时间为所述电调编址。
  16. 根据权利要求1所述的电调编址方法，其特征在于，所述电调编址方法还包括：
    获取所述多旋翼无人机中电调的编址情况，当有两个电调的编址相同时进行报警。
  17. 一种用于多旋翼无人机中电调的控制系统，其特征在于，包括：一个或多个处理器，单独地或共同地工作，所述处理器用于：
    获取所述编址接口的特征信息；
    根据所述编址接口的特征信息为所述电调编址。
  18. 根据权利要求17所述的控制系统，其特征在于，所述编址接口单独设置，并且与所述处理器通讯连接，或者所述处理器设有所述编址接口；
    或/及，所述特征信息为电压、上电时间中的至少一种。
  19. 根据权利要求18所述的控制系统，其特征在于，
    所述编址接口设置在编址电路的预设位置，所述编址电路用于电连接所述多旋翼无人机的飞行控制器和电调；
    所述处理器用于获取所述编址接口的电压大小，并根据所述电压大小为所述电调编址。
  20. 根据权利要求19所述的控制系统，其特征在于，
    所述编址电路包括串联在一起的第一分压元件和第二分压元件；
    所述编址接口设置在所述第一分压元件和第二分压元件之间。
  21. 根据权利要求20所述的控制系统，其特征在于，所述第一分压元件，和/或，所述第二分压元件为电阻。
  22. 根据权利要求20所述的控制系统，其特征在于，所述第一分压元件集成在所述飞行控制器上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  23. 根据权利要求20所述的控制系统，其特征在于，所述第二分压元件集成在所述电调上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  24. 根据权利要求20所述的控制系统，其特征在于，与每个电调集成的第二分压元件均为相同阻值的电阻。
  25. 根据权利要求19所述的控制系统，其特征在于，所述编址电路的一端与所述飞行控制器的数据接口连接，另一端与所述电调的数据接口连接。
  26. 根据权利要求25所述的控制系统，其特征在于，所述飞行控制器的数据接口为RX接口，相应的，所述电调的数据接口为TX接口。
  27. 根据权利要求25所述的控制系统，其特征在于，所述飞行控制器的数据接口为TX接口，相应的，所述电调的数据接口为RX接口。
  28. 根据权利要求18所述的控制系统，其特征在于，所述编址接口包括为所述电调配置的第一IO接口和第二IO接口，根据所述第一IO接口和第二IO接口的电平信息为所述电调编址。
  29. 根据权利要求28所述的控制系统，其特征在于，所述编址接口还包括为所述电调配置的第三IO接口，根据所述第一IO接口、第二IO接口和第三IO接口的电平信息为所述电调编址。
  30. 根据权利要求28或29所述的控制系统，其特征在于，所述电平信息包括：电平的高低及其排列顺序。
  31. 根据权利要求18所述的控制系统，其特征在于，所述编址接口为所述电调与所述多旋翼无人机电源电连接的供电接口，根据所述供电接口的上电时间为所述电调编址。
  32. 根据权利要求17所述的控制系统，其特征在于，所述处理器还用于获取所述多旋翼无人机中电调的编址情况，以及当有两个电调的编址相同时进行报警。
  33. 一种电调，其特征在于，包括：控制系统和外壳；
    所述控制系统安装在所述外壳内，且所述控制系统包括一个或多个处理器，单独地或共同地工作，所述处理器用于：
    获取所述编址接口的特征信息；
    根据所述特征信息为所述电调编址。
  34. 根据权利要求33所述的电调，其特征在于，所述编址接口单独设置，并且与所述处理器通讯连接，或者所述处理器设有所述编址接口；
    或/及，所述特征信息为电压、上电时间中的至少一种。
  35. 根据权利要求34所述的电调，其特征在于，
    所述电调通过编址电路与所述多旋翼无人机的飞行控制器电连接，所述编址接口设置在所述编址电路的预设位置；
    所述处理器用于获取所述编址接口的电压大小，并根据所述电压大小为所述电调编址。
  36. 根据权利要求35所述的电调，其特征在于，
    所述编址电路包括串联在一起的第一分压元件和第二分压元件；
    所述编址接口设置在所述第一分压元件和第二分压元件之间。
  37. 根据权利要求36所述的电调，其特征在于，所述第一分压元件，和/或，所述第二分压元件为电阻。
  38. 根据权利要求36所述的电调，其特征在于，所述第一分压元件集成在所述飞行控制器上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  39. 根据权利要求36所述的电调，其特征在于，所述第二分压元件集成在所述电调上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  40. 根据权利要求36所述的电调，其特征在于，与每个电调集成的第二分压元件均为相同阻值的电阻。
  41. 根据权利要求35所述的电调，其特征在于，所述编址电路的一端与所述飞行控制器的数据接口连接，另一端与所述电调的数据接口连接。
  42. 根据权利要求41所述的电调，其特征在于，所述飞行控制器的数据接口为RX接口，相应的，所述电调的数据接口为TX接口。
  43. 根据权利要求41所述的电调，其特征在于，所述飞行控制器的数据 接口为TX接口，相应的，所述电调的数据接口为RX接口。
  44. 根据权利要求34所述的电调，其特征在于，所述编址接口包括为所述电调配置的第一IO接口和第二IO接口，根据所述第一IO接口和第二IO接口的电平信息为所述电调编址。
  45. 根据权利要求44所述的电调，其特征在于，所述编址接口还包括为所述电调配置的第三IO接口，根据所述第一IO接口、第二IO接口和第三IO接口的电平信息为所述电调编址。
  46. 根据权利要求44或45所述的电调，其特征在于，所述电平信息包括：电平的高低及其排列顺序。
  47. 根据权利要求34所述的电调，其特征在于，所述编址接口为所述电调与所述多旋翼无人机电源电连接的供电接口，根据所述供电接口的上电时间为所述电调编址。
  48. 根据权利要求33所述的电调，其特征在于，所述处理器还用于获取所述多旋翼无人机中电调的编址情况，以及当有两个电调的编址相同时进行报警。
  49. 一种动力系统，其特征在于，包括：电调和电机；
    所述电调与所述电机通信连接，用于控制所述电机的工作状态；
    所述电调包括安装在外壳内的控制系统；
    所述控制系统包括一个或多个处理器，单独地或共同地工作，所述处理器用于：
    获取所述编址接口的特征信息；
    根据所述特征信息为所述电调编址。
  50. 根据权利要求49所述的动力系统，其特征在于，所述编址接口单独设置，并且与所述处理器通讯连接，或者所述处理器设有所述编址接口；
    或/及，所述特征信息为电压、上电时间中的至少一种。
  51. 根据权利要求50所述的动力系统，其特征在于，
    所述电调通过编址电路与所述动力系统的飞行控制器电连接，所述编址接口设置在所述编址电路的预设位置；
    所述处理器用于获取所述编址接口的电压大小，并根据所述电压大小为所述电调编址。
  52. 根据权利要求51所述的动力系统，其特征在于，
    所述编址电路包括串联在一起的第一分压元件和第二分压元件；
    所述编址接口设置在所述第一分压元件和第二分压元件之间。
  53. 根据权利要求52所述的动力系统，其特征在于，所述第一分压元件，和/或，所述第二分压元件为电阻。
  54. 根据权利要求52所述的动力系统，其特征在于，所述第一分压元件集成在所述飞行控制器上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  55. 根据权利要求52所述的动力系统，其特征在于，所述第二分压元件集成在所述电调上，或者集成在用于连接所述飞行控制器和电调的连接线上。
  56. 根据权利要求52所述的动力系统，其特征在于，与每个电调电连接的第二分压元件均为相同阻值的电阻。
  57. 根据权利要求52所述的动力系统，其特征在于，所述编址电路的一端与所述飞行控制器的数据接口连接，另一端与所述电调的数据接口连接。
  58. 根据权利要求57所述的动力系统，其特征在于，所述飞行控制器的数据接口为RX接口，相应的，所述电调的数据接口为TX接口。
  59. 根据权利要求57所述的动力系统，其特征在于，所述飞行控制器的数据接口为TX接口，相应的，所述电调的数据接口为RX接口。
  60. 根据权利要求50所述的动力系统，其特征在于，所述编址接口包括为所述电调配置的第一IO接口和第二IO接口，根据所述第一IO接口和第二IO接口的电平信息为所述电调编址。
  61. 根据权利要求60所述的动力系统，其特征在于，所述编址接口还包括为所述电调配置的第三IO接口，根据所述第一IO接口、第二IO接口和第三IO接口的电平信息为所述电调编址。
  62. 根据权利要求60或61所述的动力系统，其特征在于，所述电平信息包括：电平的高低及其排列顺序。
  63. 根据权利要求50所述的动力系统，其特征在于，所述编址接口为所述电调与所述动力系统的电源电连接的供电接口，根据所述供电接口的上电时间为所述电调编址。
  64. 根据权利要求49所述的动力系统，其特征在于，所述处理器还用于 获取所述电调的编址情况，以及当有两个电调的编址相同时进行报警。
  65. 一种多旋翼无人机，其特征在于，包括：
    机架；
    多个权利要求49～64任一项所述的动力系统，分别设于所述机架上；
    飞行控制器，与所述动力系统的电调通讯连接；
    其中，所述飞行控制器发送油门信号给所述电调，所述电调根据所述油门信号控制所述电机的转速，为所述多旋翼无人机提供飞行动力。
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