Summary of the invention
The embodiment of the present invention proposes the filtering method and relevant apparatus of a kind of pulse signal, to solve in unmanned vehicleBecause the interface contact between flight controller and electron speed regulator it is bad caused by pulse signal exception problem.
According to one aspect of the present invention, a kind of filtering method of pulse signal is provided, is applied in unmanned vehicle,The unmanned vehicle has flight controller and electron speed regulator, which comprises
Acquire pulse letter that the flight controller is sent to the electron speed regulator and by pulse width modulationNumber；
Detect pulse period and the pulse width of the pulse signal；
Effective range according to the pulse period and/or the pulse width detects the validity of the pulse signal；
Effective pulse signal is filtered, output to the electron speed regulator.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Judge whether the pulse period is greater than or equal to preset period 1 threshold value, and is less than or equal to preset theTwo cycles threshold value；
If so, determining that pulse signal belonging to the pulse period is effective；
If not, it is determined that pulse signal belonging to the pulse period is invalid.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Calculate the average value of m pulse period；
Judge the current pulse period whether within the scope of the target proportion of the average value；
If so, determining that pulse signal belonging to the current pulse period is effective；
If not, it is determined that pulse signal belonging to the current pulse period is invalid.
Optionally, the average value step for calculating m pulse period includes:
The n pulse period of current pulse period and sequence before the current pulse period is formed into pulse array；
Outlier maximum x pulse period and/or value the smallest y pulse period in the pulse array；
Calculate the average value that the pulse array middle arteries after rejecting rush the period.
Optionally, the target proportion range of the average value is 0.9-1.1 times of the average value.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Judge whether the pulse width is greater than or equal to preset first width threshold value, and is less than or equal to preset theTwo width threshold values；
If so, determining that pulse signal belonging to the pulse width is effective；
If not, it is determined that pulse signal belonging to the pulse width is invalid.
Optionally, described to be filtered to effective pulse signal, output to the step of electron speed regulator is wrappedIt includes:
The processing of first-order low-pass wave, output to the electron speed regulator are carried out to effective pulse signal.
Optionally, further includes:
If the pulse signal is invalid, the pulse signal is filtered out；
It adds up the errors number of pulse width modulation for invalid pulse signal；
When the errors number reaches preset times, triggering alarm operation.
According to another aspect of the present invention, a kind of filter of pulse signal is provided, is applied in unmanned vehicle,The unmanned vehicle has flight controller and electron speed regulator, and described device includes:
Pulse signal acquisition module, for acquiring that the flight controller is sent to the electron speed regulator and passing throughThe pulse signal of pulse width modulation；
Pulse signal detection module, for detecting pulse period and the pulse width of the pulse signal；
Validation checking module, for detecting institute according to the effective range of the pulse period and/or the pulse widthState the validity of pulse signal；
Module is filtered, for being filtered to effective pulse signal, output to the electron speed regulator.
Optionally, the validation checking module includes:
First pulse period judging submodule, for judging whether the pulse period is greater than or equal to preset first weekPhase threshold value, and it is less than or equal to preset second round threshold value；If so, calling first effectively to determine submodule, if it is not, then adjustingWith the first invalid determining submodule；
First effectively determines submodule, for determining that pulse signal belonging to the pulse period is effective；
First invalid determining submodule, for determining that pulse signal belonging to the pulse period is invalid.
Optionally, the validation checking module includes:
Average period computational submodule, for calculating the average value of m pulse period；
Second pulse period judging submodule, for judge the current pulse period whether the average value target ratioIn example range；If so, calling second effectively to determine submodule, if it is not, then calling second to determine submodule in vain；
Second effectively determines submodule, for determining that pulse signal belonging to the current pulse period is effective；
Second invalid determining submodule, for determining that pulse signal belonging to the current pulse period is invalid.
Optionally, computational submodule average period includes:
Array component units, for the n pulse by current pulse period and sequence before the current pulse periodPeriod forms umber of pulse group；
Array proposes unit, the smallest for the outlier maximum x pulse period in the pulse array and/or valueY pulse period；
Average calculation unit rushes the average value in period for calculating the pulse array middle arteries after rejecting.
Optionally, the validation checking module includes:
Pulse width judging submodule, for judging whether the pulse width is greater than or equal to preset first width thresholdValue, and it is less than or equal to preset second width threshold value；If so, calling third effectively to determine submodule, if it is not, then calling theThree invalid determining submodules；
Third effectively determines submodule, for determining that pulse signal belonging to the pulse width is effective；
Third determines submodule in vain, for determining that pulse signal belonging to the pulse width is invalid.
Optionally, the filtering processing module includes:
First-order low-pass marble module, for carrying out the processing of first-order low-pass wave, output to institute to effective pulse signalState electron speed regulator.
Optionally, further includes:
Pulse signal filters out module, if invalid for the pulse signal, filters out the pulse signal；
Errors number accumulator module, for adding up the mistake time of pulse width modulation for invalid pulse signalNumber；
Alarm operation trigger module, for when the errors number reaches preset times, triggering alarm to be operated.
According to another aspect of the present invention, a kind of unmanned vehicle, including controller, storage medium, electronics tune are providedFast device, the storage medium is for storing program, described program step used to perform the method when running；
The electron speed regulator is used for for controlling motor operating.
According to another aspect of the present invention, a kind of storage medium is provided, the storage medium includes the program of storage,In, equipment where controlling the storage medium in described program operation executes the filtering method of the pulse signal.
According to another aspect of the present invention, a kind of processor is provided, which is characterized in that the processor is for running journeySequence, wherein the filtering method of the pulse signal is executed when described program is run.
The embodiment of the present invention includes following advantages:
In the embodiment of the present invention, unmanned vehicle flight controller connects electron speed regulator, acquires flight controller to institutePulse signal electron speed regulator transmission and by pulse width modulation is stated, and detects pulse period and pulse width, foundationThe effective range of pulse period and/or pulse width detects the validity of pulse signal, is filtered to effective pulse signalProcessing, output to electron speed regulator reject input electronics tune using the cyclophysis of the pulse signal by pulse width modulationAbnormal signal in the pulse signal of fast device is effectively eliminated because of the interface contact between flight controller and electron speed regulator notSignal jitter caused by good avoids dynamic response abnormal, guarantees normal power output, and shake caused by avoiding thus is even fallenThe generation ruined.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific realApplying mode, the present invention is described in further detail.
Referring to Fig.1, a kind of step flow chart of the filtering method of pulse signal of one embodiment of the invention is shown, is hadBody may include steps of:
Step 101, it acquires that the flight controller is sent to the electron speed regulator and by pulse width modulationPulse signal.
In the concrete realization, the embodiment of the present invention can be applied in unmanned vehicle, that is, refer to and utilize wireless remote control or journeySequence controls to execute the aircraft of specific aviation mission, for example, agricultural plant protection, camera shooting, logistics, etc..
In embodiments of the present invention, unmanned vehicle has flight controller and electron speed regulator, electron speed regulator conductThe pulse signal of the execution structure of the dynamical system of unmanned vehicle, input is exported by flight controller.
As shown in Fig. 2, a flight controller can be with one or more electron speed regulators (such as electron speed regulator 1, electronicsGovernor 2, electron speed regulator 3, electron speed regulator 4 etc.) connection, and it is grounded (GND), pulse signal generally uses the pulse of single lineThe mode (such as PWM1, PWM2, PWM3, PWM4) of width modulated (PWM).
In embodiments of the present invention, can using the capture-port of single-chip microcontroller to acquisition flight controller to electron speed regulatorPulse signal sending and by pulse width modulation.
Step 102, pulse period and the pulse width of the pulse signal are detected.
It in the concrete realization, can be using the time between rising edge as the pulse period, is denoted as twice in pulse signalTperiod, the time between rising edge and failing edge is denoted as T as pulse widthon。
It should be noted that since pulse signal is to continue to send, detection pulse period and pulse can be continuedWidth, quantity are usually multiple.
Step 103, the effective range according to the pulse period and/or the pulse width detects the pulse signalValidity.
As shown in figure 3, if the interface contact between flight controller and electron speed regulator is good, due to flight controllerIt is remained unchanged in flight course after setting, after the frequency for determining output, pulse period TperiodIt generally remains unchanged, generallyIn 2.5ms between 25ms.
By adjusting pulse width TonSize, can control electron speed regulator starting, stop and pass through electron speed regulator controlThe output revolving speed of motor processed.
As shown in figure 4, if the interface contact between flight controller and electron speed regulator is bad, pulse period TperiodIt can occur significantly to fluctuate, deviate normal value, for example, pulse period T1, pulse period T2With pulse period T3, elongated or changeIt is short.
It in embodiments of the present invention, can be according to the fluctuation of pulse period, in conjunction with the pulse period T of pulse signalperiodThe characteristic generally remained unchanged after setting, to the pulse period T in pulse signalperiod, pulse width TonIt is detected.
If pulse period TperiodAnd/or pulse width TonIn effective range, then it represents that pulse period TperiodAnd/or arteries and veinsRush width TonShake is smaller, is normal pulse period TperiodAnd/or pulse width Ton, then the pulse period can be confirmedTperiodAnd/or pulse width TonAffiliated pulse signal is effective.
If pulse period TperiodAnd/or pulse width TonNot in effective range, then it represents that pulse period TperiodAnd/orPulse width TonShake it is larger, for abnormal pulse period TperiodAnd/or pulse width Ton, then the pulse period can be confirmedTperiodAnd/or pulse width TonAffiliated pulse signal is invalid.
Step 104, effective pulse signal is filtered, output to the electron speed regulator.
In the concrete realization, effective pulse signal is normal pulse signal, is filtered, can eliminate to itThe revolving speed output of motor is stablized in high dither in normal pulse signal, output to electron speed regulator.
In one embodiment, effective pulse signal can be inputted into low-pass filter, to effective pulse signalCarry out the processing of first-order low-pass wave, output to electron speed regulator.
In the concrete realization, the formula of first-order low-pass wave processing is as follows:
Wherein, TonFor pulse width, TonOutFor the output of first-order low-pass wave, TsFor calculating cycle, belong to constant, such as 1ms,F is the cutoff frequency of low-pass filter, belongs to constant, such as 200Hz, in the case where guaranteeing certain elimination shake, is kept justNormal dynamic quick response.
In the embodiment of the present invention, unmanned vehicle flight controller connects electron speed regulator, acquires flight controller to institutePulse signal electron speed regulator transmission and by pulse width modulation is stated, and detects pulse period and pulse width, foundationThe effective range of pulse period and/or pulse width detects the validity of pulse signal, is filtered to effective pulse signalProcessing, output to electron speed regulator reject input electronics tune using the cyclophysis of the pulse signal by pulse width modulationAbnormal signal in the pulse signal of fast device is effectively eliminated because of the interface contact between flight controller and electron speed regulator notSignal jitter caused by good avoids dynamic response abnormal, guarantees normal power output, and shake caused by avoiding thus is even fallenThe generation ruined.
Referring to Fig. 5, the step flow chart of the filtering method of another pulse signal of one embodiment of the invention is shown,It applies in unmanned vehicle, the unmanned vehicle has flight controller and electron speed regulator, and the method specifically can be withInclude the following steps:
Step 501, it acquires that the flight controller is sent to the electron speed regulator and by pulse width modulationPulse signal.
Step 502, judge whether the pulse period is greater than or equal to preset period 1 threshold value, and be less than or equal toPreset second round threshold value；If so, 503 are thened follow the steps, if it is not, thening follow the steps 504.
Step 503, determine that pulse signal belonging to the pulse period is effective.
Step 504, determine that pulse signal belonging to the pulse period is invalid.
In embodiments of the present invention, pulse period T can be relied onperiodGeneral effective range, judge pulse signalValidity.
In the concrete realization, pulse period TperiodEffective range be period 1 threshold value TperiodMinWith second round thresholdValue TperiodMaxThe range of composition, if meeting TperiodMin≤Tperiod≤TperiodMax, it is determined that pulse period TperiodAffiliated arteries and veinsIt is effective to rush signal, otherwise, it determines pulse period TperiodAffiliated pulse signal is invalid.
Due to the cycle T of the pulse signal by pulse width modulationperiodUsually 2.5ms to 25ms, therefore, one weekPhase threshold value is TperiodMinIt can be set to 2.2ms, second round threshold value is TperiodMaxIt can be set to 27ms.
Step 505, the average value of m pulse period is calculated.
Step 506, judge the current pulse period whether within the scope of the target proportion of the average value；If so, holdingRow step 507, if it is not, thening follow the steps 508.
Step 507, determine that pulse signal belonging to the current pulse period is effective.
Step 508, determine that pulse signal belonging to the current pulse period is invalid.
In embodiments of the present invention, pulse period T can be relied onperiodSpecific effective range, judge pulse signalValidity.
In the concrete realization, current pulse period TperiodEffective range be one section of m (m is positive integer) a pulse letterNumber pulse period TperiodAverage value target proportion range.
In one example, the target proportion range of average value is 0.9-1.1 times of average value.
If the pulse period T before meetingperiodWithin the scope of the target proportion, it is determined that current pulse period TperiodInstituteThe pulse signal of category is effective, otherwise, it determines current pulse period TperiodAffiliated pulse signal is invalid.
In one example of an embodiment of the present invention, step 505 may include following sub-step:
Sub-step S11 forms the n pulse period of current pulse period and sequence before the current pulse periodPulse array.
Sub-step S12, outlier maximum x pulse period and/or the smallest y pulse of value in the pulse arrayPeriod.
Sub-step S13 calculates the average value that the pulse array middle arteries after rejecting rush the period.
Wherein, n, x, y are positive integer.
In this example, for the current pulse period, the n (such as 15) before the current pulse period that sorts can be taken aPulse period Tperiod, with current pulse period TperiodComposition sum is the array of n+1 (such as 16).
Y (such as 1) a pulse period of the maximum x of value (such as 1) a pulse period and/or minimum value is filtered out in the arrayTperiod, take m=(n-x-y) (such as 14) a pulse period TperiodAverage value.
For example, as shown in figure 4, as pulse period T2With pulse period T3When into array, pulse period T2It is minimum as valuePulse period Tperiod, pulse period T3As the maximum pulse period T of valueperiodIt is rejected, average value will not be drawnEnter to influence.
It should be noted that the pulse period T of the head of a quilt timeperiod, pulse width TonAlso it is removed together, so-called rejecting,It might not be by pulse period Tperiod, pulse width TonIt deletes, but is not used in the calculating of current average, can retainAnd it is included in array next time.
Step 509, judge whether the pulse width is greater than or equal to preset first width threshold value, and be less than or equal toPreset second width threshold value；If so, 510 are thened follow the steps, if it is not, thening follow the steps 511.
Step 510, determine that pulse signal belonging to the pulse width is effective.
Step 511, determine that pulse signal belonging to the pulse width is invalid.
In embodiments of the present invention, pulse width T can be relied ononGeneral effective range, judge pulse signal hasEffect property.
In the concrete realization, pulse width TonEffective range be the first width threshold value TonMinWith the second width threshold valueTonMaxThe value minimum and be worth maximum pulse width T that the range of composition, respectively flight controller issueonValue, therefore,One width threshold value TonMinIt can be set to 2.2ms, the second width threshold value TonMaxIt can be set to 27ms.
If meeting TonMin≤Ton≤TonMax, it is determined that pulse width TonAffiliated pulse signal is effective, otherwise, it determines arteries and veinsRush width TonAffiliated pulse signal is invalid.
If for example, as shown in figure 4, pulse period T1Effectively, still, pulse width Ton1Pulse width is greater than secondWidth threshold value TonMax, i.e. pulse width Ton1Affiliated pulse signal is invalid.
Step 512, if the pulse signal is invalid, the pulse signal is filtered out.
In embodiments of the present invention, the pulse signal being filtered out might not delete pulse signal, but can retainPulse signal, but and without the subsequent filtering processing to pulse signal, electron speed regulator will not be sent to.
The embodiment of the present invention is by the specific effective range of general work of pulse period and/or pulse width to furtherPulse signal is filtered out, and the shake of pulse signal can be effectively reduced, and slows down connecing between flight controller and electron speed regulatorThere is the shake that unmanned vehicle occurs when poor contact in mouth.
Step 513, effective pulse signal is filtered, output to the electron speed regulator.
Step 514, it adds up the errors number of pulse width modulation for invalid pulse signal.
Step 515, when the errors number reaches preset times, triggering alarm operation.
In embodiments of the present invention, often detect primary invalid pulse signal, then it can be tired with pulse-width modulated PWMCount an errors number.
When the errors number that pulse width modulation (PWM) adds up meets certain alert if, it is believed that wiring is not connected firmlyLean on, electron speed regulator can be triggered and carry out alarm operation, feed back to flight controller remind user interface is checked orReplacement, debugging, so that it is guaranteed that flight safety.
In one example, the alert if can in flight errors number be more than preset times (such as 20It is secondary), in this alert if, it is believed that exception occur in pulse signal continuous several times, then carry out alarm operation.
Certainly, other than frequency threshold value, alert if can also be set by other conditions, for example, error rate (mistakeRatio between number and total pulses), continuous errors number, etc., the embodiments of the present invention are not limited thereto.
The errors number of recording impulse width modulated of the embodiment of the present invention triggers electron speed regulator with this and carries out alarm behaviourMake, reminds operator to check the interface between flight controller and electron speed regulator, avoid going out due to connectivity problemExisting accident.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the methodIt closes, but those skilled in the art should understand that, embodiment of that present invention are not limited by the describe sequence of actions, because according toAccording to the embodiment of the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also shouldKnow, the embodiments described in the specification are all preferred embodiments, and the related movement not necessarily present invention is implementedNecessary to example.
Referring to Fig. 6, a kind of structural block diagram of the filter of pulse signal of one embodiment of the invention is shown, is appliedIn unmanned vehicle, the unmanned vehicle has flight controller and electron speed regulator, and described device can specifically includeFollowing module:
Pulse signal acquisition module 601, for acquiring that the flight controller is sent to the electron speed regulator and passing throughThe pulse signal of extra pulse width modulated；
Pulse signal detection module 602, for detecting pulse period and the pulse width of the pulse signal；
Validation checking module 603, for being detected according to the effective range of the pulse period and/or the pulse widthThe validity of the pulse signal；
Module 604 is filtered, for being filtered to effective pulse signal, output to the electronic speed regulationDevice.
In one embodiment of the invention, the validation checking module 603 includes:
First pulse period judging submodule, for judging whether the pulse period is greater than or equal to preset first weekPhase threshold value, and it is less than or equal to preset second round threshold value；If so, calling first effectively to determine submodule, if it is not, then adjustingWith the first invalid determining submodule；
First effectively determines submodule, for determining that pulse signal belonging to the pulse period is effective；
First invalid determining submodule, for determining that pulse signal belonging to the pulse period is invalid.
In one embodiment of the invention, the validation checking module 603 includes:
Average period computational submodule, for calculating the average value of m pulse period；
Second pulse period judging submodule, for judge the current pulse period whether the average value target ratioIn example range；If so, calling second effectively to determine submodule, if it is not, then calling second to determine submodule in vain；
Second effectively determines submodule, for determining that pulse signal belonging to the current pulse period is effective；
Second invalid determining submodule, for determining that pulse signal belonging to the current pulse period is invalid.
In one example of an embodiment of the present invention, the target proportion range of the average value is the 0.9- of the average value1.1 again.
In one example of an embodiment of the present invention, computational submodule average period includes:
Array component units, for the n pulse by current pulse period and sequence before the current pulse periodPeriod forms umber of pulse group；
Array proposes unit, the smallest for the outlier maximum x pulse period in the pulse array and/or valueY pulse period；
Average calculation unit rushes the average value in period for calculating the pulse array middle arteries after rejecting.
In one embodiment of the invention, the validation checking module 603 includes:
Pulse width judging submodule, for judging whether the pulse width is greater than or equal to preset first width thresholdValue, and it is less than or equal to preset second width threshold value；If so, calling third effectively to determine submodule, if it is not, then calling theThree invalid determining submodules；
Third effectively determines submodule, for determining that pulse signal belonging to the pulse width is effective；
Third determines submodule in vain, for determining that pulse signal belonging to the pulse width is invalid.
In one embodiment of the invention, the filtering processing module 604 includes:
First-order low-pass marble module, for carrying out the processing of first-order low-pass wave, output to institute to effective pulse signalState electron speed regulator.
In the embodiment of the present invention, unmanned vehicle flight controller connects electron speed regulator, acquires flight controller to institutePulse signal electron speed regulator transmission and by pulse width modulation is stated, and detects pulse period and pulse width, foundationThe effective range of pulse period and/or pulse width detects the validity of pulse signal, is filtered to effective pulse signalProcessing, output to electron speed regulator reject input electronics tune using the cyclophysis of the pulse signal by pulse width modulationAbnormal signal in the pulse signal of fast device is effectively eliminated because of the interface contact between flight controller and electron speed regulator notSignal jitter caused by good avoids dynamic response abnormal, guarantees normal power output, and shake caused by avoiding thus is even fallenThe generation ruined.
Referring to Fig. 7, the structural block diagram of the filter of another pulse signal of one embodiment of the invention is shown, is answeredIn unmanned vehicle, the unmanned vehicle has flight controller and electron speed regulator, and described device specifically can wrapInclude following module:
Pulse signal acquisition module 701, for acquiring that the flight controller is sent to the electron speed regulator and passing throughThe pulse signal of extra pulse width modulated；
Pulse signal detection module 702, for detecting pulse period and the pulse width of the pulse signal；
Validation checking module 703, for being detected according to the effective range of the pulse period and/or the pulse widthThe validity of the pulse signal；
Pulse signal filters out module 704, if invalid for the pulse signal, filters out the pulse signal；
Module 705 is filtered, for being filtered to effective pulse signal, output to the electronic speed regulationDevice；
Errors number accumulator module 706, for adding up the mistake of pulse width modulation for invalid pulse signalNumber；
Alarm operation trigger module 707, for when the errors number reaches preset times, triggering alarm to be operated.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simplePlace illustrates referring to the part of embodiment of the method.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are withThe difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
Fig. 8 is a kind of structural schematic diagram of unmanned vehicle 800 of one embodiment of the invention.As shown in figure 8, nobody fliesRow device 800 includes controller 810, and the controller 810 is with one or more sensors or sensing in a wired or wireless fashionSystem 801a-c connection.The sensor can pass through controller LAN (controller area network, CAN) and instituteState controller connection.The controller 810 can also be connect with one or more actuators 820 to control the unmanned vehicleState.
The sensor may include this specification description any sensor, such as inertial sensor, GPS receiver,Compass, magnetometer, altimeter, range sensor (such as infrared sensor or laser radar sensor), vision or imageSensor (such as camera or video camera), photoelectric sensor, motion sensor, touch sensing, pressure sensor, temperature sensingDevice, Magnetic Sensor etc..
In some embodiments it is possible to by some sensors (such as visual sensor) and field programmable gate array(field programmable gate array, FPGA, figure on be not shown) connection.It can be by the field-programmable gate arrayColumn connect with the controller (such as by general purpose memory controller (general purpose memory controller,GPMC it) connects).In some embodiments it is possible to by some sensors (such as visual sensor) and/or the field-programmableGate array is connect with transmission module.The data (such as image data) that the transmission module can be used to obtain the sensorSend any suitable external equipment or system, such as the terminal or remote equipment of this specification description to.
The controller may include one or more programmable processors (such as central processing unit).The controller canTo be connect with storage medium (such as non-volatile computer-readable medium) 830.The storage medium may include one or moreStorage unit (such as removable medium or external memory, such as SD card or random access memory).In certain embodiments, fromThe data of the sensor (such as camera) directly can transmit and be stored in the storage unit of the storage medium (such as logicalCross direct memory access connection (DMA)).The storage unit of the storage medium can store code and/or program instruction.It is describedController executes the code and/or program instruction, to execute the embodiment of the method for this specification description.For example, the controllerIt can execute instruction, so that the one or more processors analysis one or more sensors or sensing system of the controller produceRaw data, to determine the orientation of the unmanned vehicle of this specification description and/or the external contact of motion information, detectionInformation and/or the external signal information of detection.For another example, the controller can execute instruction, so that one of the controllerOr multiple processors decide whether that controlling the unmanned vehicle independent takes off or land.
The storage unit of the storage medium 830 stores the sensing data from one or more of sensing systems,The sensing data will be handled by the controller.In certain embodiments, the storage unit can store the unmanned flightThe external signal information in device orientation and/or motion information, the external contact information of detection and/or detection.Alternatively, or in combination with,The storage unit can store to control the predetermined of the unmanned vehicle or the data prestored (such as scheduled sensing numberAccording to threshold value, the parameter to control the actuator, the predetermined flight path of the unmanned vehicle, speed, acceleration orDirection).
As previously mentioned, the controller 810 can adjust the unmanned vehicle by one or more actuators 820State.For example, the controller can control the rotor (such as rotation speed of control rotor) of the unmanned vehicle, thusThe unmanned vehicle or its component (such as carrier of load, load) are adjusted relative to up to six-freedom degree (along X, Y and ZThe translational motion of axis and the rotary motion of roll axis, pitch axis and course axis) space layout.Alternatively, or in combination with, describedSpeed or acceleration of the adjustable unmanned vehicle of controller relative to six-freedom degree.In certain embodiments, instituteState controller can based on it is scheduled control data or the unmanned vehicle position, external contact or external signal information comeControl the unmanned vehicle.By handling the sensing data from one or more sensing systems, the nothing can be obtainedOrientation, external contact or the external signal information of people's aircraft.For example, the controller may be based on whether to need to take off or dropIt falls to provide acceleration or deceleration signal for the actuator.
In various embodiments, the actuator may include motor, it is electron speed regulator, mechanical driving device, hydraulicTransmission device, pneumatic actuator etc..The motor may include magnetic motor, electrostatic motor or piezoelectric motor.For example,In some embodiment, the actuator includes brush or brshless DC motor.
The controller can be connect with communication module 840, to transmit and/or receive outside one or moreThe data of equipment (such as terminal, display equipment or other remote controlers).Any suitable communication can be used in the communication moduleMode, such as wire communication or wireless communication.For example, the communication module can using one or more local area networks, wide area network,Infrared ray, radio wave, WiFi, point-to-point (point-to-point, P2P) network, telecommunication network, cloud communication etc..It is optionalGround can use relay station, such as launching tower, satellite or movement station.The wireless communication can be influenced by distance can also be withIt is not influenced by distance.In some embodiments it is possible to which communicating can also communicate in sight beyond the invisible.The communicationModule can transmit and/or receive one or more sensing data, orientation and/or the movement letter from the sensing systemBreath, by handle it is described sensing data obtain external contact information and/or external signal information, scheduled control data, comeFrom in the user command etc. of terminal or remote controler.
The component of the unmanned vehicle can carry out any suitable configuration.For example, one of the unmanned vehicle orMultiple components can be set the unmanned vehicle, carrier, load, terminal, sensing system or arbitrarily with said one or moreOn other remote equipments or system that a equipment communicates.In addition, although Fig. 8 describes single controller and single storage medium,It should be known to those skilled in the art that the description is not limitation to the unmanned vehicle, the unmanned vehicle can be withIncluding multiple controllers and/or storage medium.In certain embodiments, one in the multiple controller and/or storage mediumIt is a or it is multiple can be set in different location, such as in the unmanned vehicle, carrier, load, terminal, sensing system or anyOther remote equipments or system for communicating with said one or multiple equipment or its appropriate group close so that it is described nobody flyRow device is convenient for executing processing and/or store function in said one or multiple positions.
The unmanned vehicle includes but is not limited to single rotor aircraft, multi-rotor aerocraft and rotor craft.RotorAircraft usually utilizes propeller around rod or axis to rotate and generates lift.The rotor craft include such as helicopter, rolling wing machine,Autogyro, gyrodyne etc..The rotor craft, which can have, multiple is mounted on the multiple of the aircraftThe rotor of position.For example, the unmanned vehicle may include four-rotor helicopter, six heligyroes, ten heligyroesEtc..
In various embodiments, the unmanned vehicle can (such as three translations be freely relative to six-freedom degreeDegree and three rotary freedoms) free movement.Alternatively, the unmanned vehicle may be limited to one or more freedom degree fortuneIt is dynamic, such as it is limited in planned orbit or track.The movement can be driven by any suitable driving mechanism, for example, by engine orMotor driven.In certain embodiments, the unmanned vehicle can be driven by propulsion system.Propulsion system may include for exampleThe combination of engine, motor, wheel, wheel shaft, magnet, rotor, propeller, blade, nozzle or any suitable above-mentioned component.It can be withBy any suitable energy, such as electric energy, magnetic energy, solar energy, wind energy, gravitation energy, chemical energy, nuclear energy or any suitable energyGroup be combined into the unmanned vehicle movement provide power.
In various embodiments, the unmanned vehicle can use different sizes, size and/or structure.For example,In one embodiment, the unmanned vehicle can be more rotor unmanned aircrafts, and the distance between axles of counter-rotational rotor is notMore than a certain threshold value.The threshold value can be about 5m, 4m, 3m, 2m, 1m etc..For example, the axis of the counter-rotational rotorThe numerical value of spacing can be 350mm, 450mm, 800mm, 900mm etc..
In certain embodiments, the size and/or size of the unmanned vehicle be sufficient to accommodate a people wherein or itsOn.Alternatively, the size and/or undersize of the unmanned vehicle are to accommodate a people in or on which.In certain situationsUnder, the maximum size (such as length, diameter, diagonal line) of the unmanned vehicle be no more than 5m, 4m, 3m, 2m, 1m,0.5m or 0.1m.For example, the distance between axles of the counter-rotational rotor can be no more than 5m, 4m, 3m, 2m, 1m, 0.5m or0.1m.In certain embodiments, the volume of the unmanned vehicle can be less than 100cm x 100cm x 100cm.CertainIn embodiment, the volume of the unmanned vehicle can be less than 50cm x 50cm x 30cm.In certain embodiments, the nothingThe volume of people's aircraft can be less than 5cm x 5cm x 3cm.In certain embodiments, the occupied area of the unmanned vehicle(area of the cross section of the unmanned vehicle) can be less than about 32,000cm2, 20,000cm2, 10,000cm2, 1,000cm2、500cm2、100cm2Or it is smaller.In some cases, the weight of the unmanned vehicle can be no more than 1000kg,500kg, 100kg, 10kg, 5kg, 1kg or 0.5kg.
In various embodiments, the unmanned vehicle can carry load.The load may include one or moreA cargo, device, instrument etc..The load can have shell.Optionally, the part or whole of the load can not have shellBody.The load can be rigidly fixed relative to the unmanned vehicle.Alternatively, the load can relative to it is described nobody flyRow device movement (such as translate or rotate relative to the unmanned vehicle).
In certain embodiments, the load includes load and the carrier for carrying the load, for example, medicine-chest.The loadBody can be integrally formed with the unmanned vehicle.Alternatively, the carrier can be detachably connected to the unmanned vehicle.The carrier can be with the unmanned vehicle direct or indirect connection.The carrier can support the load (for example, at leastSupport the moiety by weight of the load).The carrier may include suitable mounting structure (such as holder), can stablize and/Or the movement of the control load.In certain embodiments, the carrier can be adapted for controlling the load relative to describedThe state (such as position and/or direction) of unmanned vehicle.For example, the carrier can be moved relative to the unmanned vehicle(such as being moved relative to one, two or three translation freedoms and/or one, two or three rotary freedom), so thatThe load relative to suitable reference frame keep its position/and or direction without the shadow that is moved by the unmanned vehicleIt rings.The reference frame can be fixed reference frame (such as ambient enviroment).Alternatively, the reference frame can beMotion reference coordinate system (such as described unmanned vehicle, load).
In certain embodiments, the carrier can make the load relative to the carrier and/or unmanned vehicleMovement.It is described movement can be relative to reach three degree of freedom (such as along one, two or three axis) translation, relative toReach the rotation or any combination thereof of three degree of freedom (such as along one, two or three axis).For example, the carrier can be withIncluding frame assembly and actuator.The frame assembly can provide structural support for the load.The frame assemblyIt may include multiple individual frame parts, some of frame parts can be moved mutually.
The frame assembly and/or individual frame parts can be connect with driving assembly, which drives describedFrame assembly movement.The driving component may include one or more actuators (such as motor), described independent for drivingFrame parts movement.The actuator can make multiple frame parts while movement or only one each frame parts are transportedIt is dynamic.The movement of the frame parts can make the load corresponding sports.For example, the driving component can drive one orMultiple frame parts are rotated around one or more rotary shafts (such as roll axis, pitch axis or course axis).It is one or more ofThe rotation of frame parts can make load rotate relative to the unmanned vehicle around one or more rotary shafts.Optionally orIn combination, the driving component can drive one or more frame parts along one or more translation shaft translations, to make instituteLoad is stated relative to the unmanned vehicle along one or more corresponding translation shaft translations.
The load directly (such as can directly contact the unmanned flight by the carrier and the unmanned vehicleDevice) or (such as not contacting the unmanned vehicle) connection indirectly.Optionally, the load may not need carrier be mounted on it is describedOn unmanned vehicle.The load can form an entirety with the carrier.Alternatively, the load can removably with instituteState carrier connection.In certain embodiments, the load may include one or more load elements, as previously mentioned, described negativeCarrying element can be relative to the unmanned vehicle and/or carrier movement.The load may include for measuring one or moreThe one or more sensors of a target.The load may include any suitable sensor, such as image acquisition equipment is (such asCamera), sound obtain equipment (such as paraboloid microphone), IR imaging device or ultraviolet imaging equipment.The sensorStatic sensing data (such as photo) or dynamic sensing data (such as video) can be provided.In certain embodiments, the biographySensing data are supplied to the sensing object of the load by sensor.Alternatively, or in combination with, it is described load may include one orMultiple transmitters, for providing signals to one or more sensing objects.The transmitter can be any suitable transmittingDevice, such as light source or sound source.In certain embodiments, the load includes one or more transceivers, for example, for it is separateThe mould group of the unmanned vehicle communicates.In embodiments of the present invention, by calling the program being stored in storage medium 830,Controller 810 is used to acquire arteries and veins that the flight controller is sent to the electron speed regulator and by pulse width modulationRush signal；Detect pulse period and the pulse width of the pulse signal；According to the pulse period and/or the pulse widthEffective range detect the validity of the pulse signal；Effective pulse signal is filtered, output to the electricitySub- governor.
Optionally, controller 810 is also used to judge whether the pulse period is greater than or equal to preset period 1 thresholdValue, and it is less than or equal to preset second round threshold value；If so, determining that pulse signal belonging to the pulse period is effective；If not, it is determined that pulse signal belonging to the pulse period is invalid.
Optionally, controller 810 is also used to calculate the average value of m pulse period；Whether judge the current pulse periodWithin the scope of the target proportion of the average value；If so, determining that pulse signal belonging to the current pulse period is effective；IfIt is no, it is determined that pulse signal belonging to the current pulse period is invalid.
Optionally, controller 810 is also used to n before the current pulse period by current pulse period and sequencePulse period forms pulse array；Outlier maximum x pulse period and/or value are y the smallest in the pulse arrayPulse period；Calculate the average value that the pulse array middle arteries after rejecting rush the period.
Optionally, the target proportion range of the average value is 0.9-1.1 times of the average value.
Optionally, controller 810 is also used to judge whether the pulse width is greater than or equal to preset first width thresholdValue, and it is less than or equal to preset second width threshold value；If so, determining that pulse signal belonging to the pulse width is effective；If not, it is determined that pulse signal belonging to the pulse width is invalid.
Optionally, controller 810 is also used to carry out the processing of first-order low-pass wave to effective pulse signal, exports to describedElectron speed regulator.
Optionally, if to be also used to the pulse signal invalid for controller 810, the pulse signal is filtered out；For invalidPulse signal add up the errors number of pulse width modulation；When the errors number reaches preset times, triggering reportAlert operation.
The embodiment of the invention provides a kind of storage medium, the storage medium includes the program of storage, wherein describedEquipment program controls the storage medium when running where executes the filtering method of pulse signal, which has flight controllerWith electron speed regulator, which comprises
Acquire pulse letter that the flight controller is sent to the electron speed regulator and by pulse width modulationNumber；
Detect pulse period and the pulse width of the pulse signal；
Effective range according to the pulse period and/or the pulse width detects the validity of the pulse signal；
Effective pulse signal is filtered, output to the electron speed regulator.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Judge whether the pulse period is greater than or equal to preset period 1 threshold value, and is less than or equal to preset theTwo cycles threshold value；
If so, determining that pulse signal belonging to the pulse period is effective；
If not, it is determined that pulse signal belonging to the pulse period is invalid.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Calculate the average value of m pulse period；
Judge the current pulse period whether within the scope of the target proportion of the average value；
If so, determining that pulse signal belonging to the current pulse period is effective；
If not, it is determined that pulse signal belonging to the current pulse period is invalid.
Optionally, the average value step for calculating m pulse period includes:
The n pulse period of current pulse period and sequence before the current pulse period is formed into pulse array；
Outlier maximum x pulse period and/or value the smallest y pulse period in the pulse array；
Calculate the average value that the pulse array middle arteries after rejecting rush the period.
Optionally, the target proportion range of the average value is 0.9-1.1 times of the average value.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Judge whether the pulse width is greater than or equal to preset first width threshold value, and is less than or equal to preset theTwo width threshold values；
If so, determining that pulse signal belonging to the pulse width is effective；
If not, it is determined that pulse signal belonging to the pulse width is invalid.
Optionally, described to be filtered to effective pulse signal, output to the step of electron speed regulator is wrappedIt includes:
The processing of first-order low-pass wave, output to the electron speed regulator are carried out to effective pulse signal.
Optionally, further includes:
If the pulse signal is invalid, the pulse signal is filtered out；
It adds up the errors number of pulse width modulation for invalid pulse signal；
When the errors number reaches preset times, triggering alarm operation.
The embodiment of the invention provides a kind of processors, which is characterized in that the processor is for running program, whereinThe filtering method of pulse signal is executed when described program is run, which comprises
Acquire pulse letter that the flight controller is sent to the electron speed regulator and by pulse width modulationNumber；
Detect pulse period and the pulse width of the pulse signal；
Effective range according to the pulse period and/or the pulse width detects the validity of the pulse signal；
Effective pulse signal is filtered, output to the electron speed regulator.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Judge whether the pulse period is greater than or equal to preset period 1 threshold value, and is less than or equal to preset theTwo cycles threshold value；
If so, determining that pulse signal belonging to the pulse period is effective；
If not, it is determined that pulse signal belonging to the pulse period is invalid.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Calculate the average value of m pulse period；
Judge the current pulse period whether within the scope of the target proportion of the average value；
If so, determining that pulse signal belonging to the current pulse period is effective；
If not, it is determined that pulse signal belonging to the current pulse period is invalid.
Optionally, the average value step for calculating m pulse period includes:
The n pulse period of current pulse period and sequence before the current pulse period is formed into pulse array；
Outlier maximum x pulse period and/or value the smallest y pulse period in the pulse array；
Calculate the average value that the pulse array middle arteries after rejecting rush the period.
Optionally, the target proportion range of the average value is 0.9-1.1 times of the average value.
Optionally, described to detect the pulse letter according to the effective range of the pulse period and/or the pulse widthNumber validity the step of include:
Judge whether the pulse width is greater than or equal to preset first width threshold value, and is less than or equal to preset theTwo width threshold values；
If so, determining that pulse signal belonging to the pulse width is effective；
If not, it is determined that pulse signal belonging to the pulse width is invalid.
Optionally, described to be filtered to effective pulse signal, output to the step of electron speed regulator is wrappedIt includes:
The processing of first-order low-pass wave, output to the electron speed regulator are carried out to effective pulse signal.
Optionally, further includes:
If the pulse signal is invalid, the pulse signal is filtered out；
It adds up the errors number of pulse width modulation for invalid pulse signal；
When the errors number reaches preset times, triggering alarm operation.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, apparatus or calculateMachine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software andThe form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer canWith in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program codeThe form of the computer program product of implementation.
The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer programThe flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructionsIn each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide theseComputer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminalsStandby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devicesCapable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagramThe device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devicesIn computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packetThe manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagramThe function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so thatSeries of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thusThe instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchartAnd/or in one or more blocks of the block diagram specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows basesThis creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted asIncluding preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to byOne entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operationBetween there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaningCovering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrapThose elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, articleOr the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limitedElement, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Above to a kind of filtering method and a kind of filter of pulse signal of pulse signal provided by the present invention, intoIt has gone and has been discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, the above implementationThe explanation of example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology people of this fieldMember, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this explanationBook content should not be construed as limiting the invention.