WO2018161212A1 - Motor control system, unmanned aerial vehicle control system, unmanned aerial vehicle, and motor protection method - Google Patents

Abstract

A motor control system (12), an unmanned aerial vehicle control system (10), an unmanned aerial vehicle (1000), and a motor startup protection method. The motor control system (12) is communicatively connected to an external device (2). The motor control system (12) comprises: a registration interface program (120) which is called by the external device (2) in order to register motor startup information, the motor startup information comprising motor startup check items; and a deregistration interface program (122) which is called by the external device (2) in order to deregister registered motor startup information. Only a motor startup check item that has been registered and has not been deregistered will be checked upon startup of a motor of the unmanned aerial vehicle (1000). If a motor startup check item is abnormal, the unmanned aerial vehicle (1000) prohibits the motor from starting up. The motor control system (12) allows the external device (2) to customize the motor startup check items, achieving a good expandability and a high flexibility.

Description

Translated fromChinese

电机控制系统、无人机控制系统、无人机及电机保护方法Motor control system, drone control system, drone and motor protection method技术领域Technical field

本发明涉及一种启动保护方法，尤其涉及一种电机控制系统、无人机控制系统、无人机及电机启动保护方法。The invention relates to a startup protection method, in particular to a motor control system, a drone control system, a drone and a motor starting protection method.

背景技术Background technique

随着无人机技术的发展和成本的降低，无人机已经在航拍、农业、救援等行业有了很广泛的应用。为了保证飞行安全，飞机需要在起飞前对当前状态进行检查，如果检查不通过则不让起飞。目前，对状态的检查都是写在飞控代码固定死的，如果需要更改状态检查则需要修改飞控固件，很难满足行业应用的各式需求。With the development of drone technology and the reduction of cost, drones have been widely used in aerial photography, agriculture, and rescue industries. In order to ensure flight safety, the aircraft needs to check the current status before take-off, and if the inspection fails, it will not take off. At present, the check of the status is written in the flight control code fixed dead, if you need to change the status check, you need to modify the flight control firmware, it is difficult to meet the various needs of the industry application.

为了保证飞行安全，飞控设置了多种禁止电机启动情况，在这些情况下，飞控会禁止电机启动。随着应用的扩展，越来越多的外部装置也有类似需求，需要在某些情况下禁止电机启动。这样，这些模块就需要与飞控制定特定的规则，飞控对这些状态进行管理和判断，如果满足禁止电机启动的条件，飞控就会禁止电机启动。这样，飞控需要了解各外部装置的状态，并且在飞控内部进行状态的判断，随着外部装置的增多，飞控需要了解的外部状态也越多，处理越复杂。每次外部装置添加需求都需要跟飞控协调，制定相应的禁止电机启动的情况及原因。如果外部装置某个禁止电机启动的状态有变更，也需要跟飞控沟通做相应的改动以支持外部装置的改动。在这种机制下，灵活度大大降低，可扩展性差，很难满足行业应用的需求。In order to ensure flight safety, the flight control sets a variety of prohibition motor starting conditions. Under these circumstances, the flight control will prohibit the motor from starting. As the application expands, more and more external devices have similar requirements, and it is necessary to prohibit the motor from starting in some cases. In this way, these modules need to set specific rules with the fly control. The flight controller manages and judges these states. If the conditions for prohibiting the motor start are met, the flight control will prohibit the motor from starting. In this way, the flight controller needs to know the state of each external device, and judge the state inside the flight controller. As the number of external devices increases, the more external states that the flight controller needs to know, the more complicated the processing. Every time an external device is added, it needs to be coordinated with the flight control, and the corresponding situation and reason for prohibiting the start of the motor are established. If there is a change in the state of the external device that prohibits the motor from starting, it is also necessary to communicate with the flight controller to make corresponding changes to support the modification of the external device. Under this mechanism, the flexibility is greatly reduced, the scalability is poor, and it is difficult to meet the needs of industrial applications.

发明内容Summary of the invention

有鉴于此，有必要提供一种能够解决上述问题的电机控制系统、无人机控制系统、无人机及电机启动保护方法。In view of this, it is necessary to provide a motor control system, a drone control system, a drone, and a motor start protection method that can solve the above problems.

一种电机控制系统，用于无人机，所述电机控制系统与外部装置通信连接，所述电机控制系统包括：注册接口程序，所述注册接口程序用于被所述外部装置调用以注册电机启动信息，所述电机启动信息包括电机启动检查项；及注销接口程序，所述注销接口程序用于被所述外部装置调用以注销已注册的电机启动信息，其中只有注册且没被注销的电机启动检查项才会在所述无人机电机启动之时被检查，所述电机启动检查项存在异常时，所述无人机禁止电机启动。A motor control system for a drone, the motor control system being communicatively coupled to an external device, the motor control system comprising: a registration interface program for calling by the external device to register a motor Startup information, the motor start information includes a motor start check item; and a logout interface program for being called by the external device to cancel the registered motor start information, wherein only the motor registered and not cancelled The startup check item is checked when the drone motor is started, and the drone prohibits the motor from starting when there is an abnormality in the motor start check item.

一种无人机控制系统，包括主处理单元和存储单元，所述无人机控制系统还包括上所述的电机启动单元，所述主处理单元用于电机启动之时检查已注册且没被注销的电机启动检查项，当所述电机启动检查项存在异常时，所述主处理单元禁止电机启动。A UAV control system includes a main processing unit and a storage unit, the UAV control system further comprising a motor starting unit as described above, wherein the main processing unit is configured to check that the motor is registered and not The unregistered motor starts the check item, and when the motor start check item has an abnormality, the main processing unit prohibits the motor from starting.

一种无人机，包括主体、动力系统及外部装置，所述主体包括上所述的无人机控制系统。A drone includes a main body, a power system, and an external device, and the main body includes the UAV control system described above.

一种电机启动保护方法，应用于无人机，所述方法包括：从存储单元读取电机启动信息，所述电机启动信息包括电机启动检查项；每一电机启动检查项与一外部装置关联，所述电机启动检查项可被所述外部装置自定义更新；根据所述电机启动信息确定所述外部装置是否异常；及当所述外部装置存在异常时，禁止电机启动。A motor start protection method is applied to a drone, the method comprising: reading motor start information from a storage unit, the motor start information including a motor start check item; each motor start check item is associated with an external device, The motor start check item may be custom-updated by the external device; determining whether the external device is abnormal according to the motor start information; and prohibiting the motor from starting when the external device has an abnormality.

一种电机启动保护方法，应用于无人机的外部装置，所述方法包括：调用所述无人机的注册接口程序；接收用户输入生成电机启动信息，所述电机启动信息包括电机启动检查项，只有注册的电机启动检查项才会在无人机的电机启动之时被检查；及提交电机启动信息。A motor start protection method is applied to an external device of a drone, the method comprising: calling a registration interface program of the drone; receiving a user input to generate motor start information, wherein the motor start information includes a motor start check item Only registered motor start check items will be checked when the motor of the drone is started; and the motor start information will be submitted.

所述电机控制系统、无人机控制系统、无人机及电机启动保护方法，可以由外部装置自主定义注册在电机启动之时需要检查的电机启动检查项，可扩展性好，灵活度高，符合行业应用需求。The motor control system, the drone control system, the unmanned aerial vehicle and the motor start protection method can be independently defined by an external device to register a motor start check item that needs to be checked when the motor is started, and has good expandability and high flexibility. Meet industry application needs.

附图说明DRAWINGS

图1是本发明一实施例的无人机结构示意图。1 is a schematic structural view of a drone according to an embodiment of the present invention.

图2是本发明一实施例的无人机的模块框图。2 is a block diagram of a module of a drone according to an embodiment of the present invention.

图3是本发明一实施例的电机启动信息表。Fig. 3 is a table of motor start information according to an embodiment of the present invention.

图4是本发明第一实施例的无人机启动保护方法流程图。4 is a flow chart of a method for starting protection of a drone according to a first embodiment of the present invention.

图5是本发明第二实施例的无人机启动保护方法流程图。FIG. 5 is a flow chart of a method for starting protection of a drone according to a second embodiment of the present invention.

图6是本发明第三实施例的无人机启动保护方法流程图。6 is a flow chart of a method for starting protection of a drone according to a third embodiment of the present invention.

图7是本发明第四实施例的无人机启动保护方法流程图。7 is a flow chart of a method for starting protection of a drone according to a fourth embodiment of the present invention.

主要元件符号说明Main component symbol description

无人机Drone10001000主体main body11无人机控制系统UAV control system1010外部装置External device22动力系统power system33电机控制系统Motor control system1212注册接口程序Registration interface program120120注销接口程序Logout interface program122122配置模块Configuration module124124主处理单元Main processing unit1414存储单元Storage unit1616电调ESC3030电机Motor3232动力机构Power mechanism3434

如下具体实施方式将结合上述附图进一步说明本发明。The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

具体实施方式detailed description

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component. When a component is considered to be "set to" another component, it can be placed directly on another component or possibly with a centered component. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

请参阅图1及图2所示，本发明实施方式提供一种无人机1000，所述无人机1000可用于任何适宜的环境，例如在空中（例如旋翼飞行器、固定翼飞行器或固定翼与旋翼混合的飞行器），在水中（例，船或潜艇），在地面上（例，摩托车，汽车，卡车，公交车，火车等），在太空中（例，航天飞机、卫星或探测器），或在地下（例如地铁），或上述环境的任意组合。Referring to Figures 1 and 2, an embodiment of the present invention provides adrone 1000 that can be used in any suitable environment, such as in the air (e.g., a rotorcraft, a fixed-wing aircraft, or a fixed-wing aircraft). Rotor-mixed aircraft), in the water (eg, boat or submarine), on the ground (eg, motorcycles, cars, trucks, buses, trains, etc.), in space (eg, space shuttle, satellite or detector) , or in the underground (such as the subway), or any combination of the above.

所述无人机1000包括主体1，连接在所述主体1上的一个或多个外部装置2及动力系统3。所述动力系统3为所述无人机1000提供动力以移动所述无人机1000。所述动力系统3可包括电调30、电机32及动力机构34。所述电调30控制所述电机32驱动所述动力机构34以移动所述无人机1000。所述动力机构34可包括，但不限于旋翼、螺旋桨、叶片、轮组、轴、磁铁或喷嘴中的一个或多个。所述无人机1000可包括一个、两个、三个、四个或其他数量的动力机构34。所述动力机构34可为相同的类型。可替代地，一个或多个所述动力机构34可为不同类型的动力机构。在一些实施例中，所述无人机1000为无人飞行器，所述动力机构34可使得所述无人飞行器垂直地从一表面起飞或垂直地着陆于一表面，而不需要所述无人飞行器做任何的水平移动（例，不需要在跑道上滑行）。可选地，所述动力机构34可用于操作以使得所述无人飞行器在指定的位置和方位上空悬停。Thedrone 1000 includes amain body 1, one or moreexternal devices 2 and apower system 3 connected to themain body 1. Thepower system 3 provides power to thedrone 1000 to move thedrone 1000. Thepower system 3 can include anESC 30, amotor 32, and apower mechanism 34. The ESC 30 controls themotor 32 to drive thepower mechanism 34 to move thedrone 1000. Thepower mechanism 34 can include, but is not limited to, one or more of a rotor, a propeller, a blade, a wheel set, a shaft, a magnet, or a nozzle. Thedrone 1000 can include one, two, three, four, or other numbers ofpower mechanisms 34. Thepower mechanisms 34 can be of the same type. Alternatively, one or more of thepower mechanisms 34 can be different types of power mechanisms. In some embodiments, thedrone 1000 is an unmanned aerial vehicle, and thepower mechanism 34 can cause the unmanned aerial vehicle to take off vertically from a surface or vertically to a surface without the need for the unmanned aerial vehicle The aircraft does any horizontal movement (for example, there is no need to taxi on the runway). Optionally, thepower mechanism 34 is operable to cause the UAV to hover over a specified position and orientation.

例如，所述无人飞行器可包括为飞行器提供提升力及推力的多个水平导向的旋翼。所述多个水平导向的旋翼可被作动以提供垂直起飞、垂直着陆、悬停能力至所述无人飞行器。在一些实施例中，一个或多个水平导向的旋翼可顺时针旋转，同时一个或多个水平旋翼可逆时针旋转。例如，顺时针旋转的旋翼的数量可等于逆时针旋转的旋翼。每一水平导向旋翼的转速可独立地变化以控制所述旋翼产生的提升力及/或推力，从而调整所述无人飞行器的空间方位、速率，及/或加速度（例，相对于三维平移自由度和三维旋转自由度）。For example, the UAV may include a plurality of horizontally-oriented rotors that provide lift and thrust to the aircraft. The plurality of horizontally-oriented rotors can be actuated to provide vertical takeoff, vertical landing, hovering capability to the unmanned aerial vehicle. In some embodiments, one or more horizontally-oriented rotors can be rotated clockwise while one or more horizontal rotors are rotatable counterclockwise. For example, the number of rotors that rotate clockwise can be equal to the number of rotors that rotate counterclockwise. The rotational speed of each horizontal guide rotor can be varied independently to control the lift and/or thrust generated by the rotor to adjust the spatial orientation, velocity, and/or acceleration of the UAV (eg, relative to three-dimensional translation freedom) Degree and three-dimensional rotational degrees of freedom).

所述外部装置2可为能为所述无人机1000提供扩展功能的模块，例如，用于检测的检测工具、用于维修的维修工具、用于航拍的航拍设备、用于承载负载的云台、用于执行特定功能的传感器（例如农业用传感器、气象用检测传感器等）、应用程序、软件开发工具等。所述外部装置2能够与所述无人机1000的主控制系统通信连接，主控制系统能够根据所述外部装置2的状态来确定是否启动无人机1000的动力系统3。在本发明实施例中，所述外部装置2能够根据实际需求制定禁止电机启动的规则，当发生一项或多项禁止电机启动的情形时，则禁止电机的启动。Theexternal device 2 may be a module capable of providing an extended function to thedrone 1000, for example, a detection tool for detection, a maintenance tool for maintenance, an aerial camera for aerial photography, a cloud for carrying a load A station, a sensor for performing a specific function (for example, an agricultural sensor, a weather detecting sensor, etc.), an application program, a software development tool, and the like. Theexternal device 2 can be communicatively coupled to the main control system of thedrone 1000, and the main control system can determine whether to activate thepower system 3 of thedrone 1000 based on the state of theexternal device 2. In the embodiment of the present invention, theexternal device 2 can formulate a rule for prohibiting the starting of the motor according to actual needs, and when one or more situations prohibiting the starting of the motor occur, the starting of the motor is prohibited.

所述无人机1000在启动后，运行前需要对各外部装置进行自检。当检测到某一外部装置存在异常或故障，所述无人机1000可能会禁止电机的启动。例如，若检测到所述云台或负载故障，则禁止电机启动。After thedrone 1000 is started, it is necessary to perform self-test on each external device before running. When an abnormality or malfunction of an external device is detected, thedrone 1000 may prohibit the start of the motor. For example, if the pan/tilt or load failure is detected, the motor is disabled.

所述主体1包括无人机控制系统10，所述无人机控制系统10包括电机控制系统12、主处理单元14及存储单元16。所述无人机控制系统10用于控制无人机1000的运行。在一实施例中，所述无人机1000为无人飞行器，所述无人机控制系统10为所述无人飞行器的飞行控制系统。所述电机控制系统12用于与所述外部装置2进行交互通信，设置电机启动信息。所述主处理单元14用于根据所设置的电机启动信息确定是否启动电机。所述主处理单元14用于产生指令输出至所述动力系统3的电调30，所述电调30根据所述主处理单元14的指令控制所述电机32的运转。当所述主处理单元14需要启动电机时，所述主处理单元14输出控制指令至所述电调30，所述电调30生成脉冲控制信号控制所述电机32运转，从而带动所述动力机构34以移动所述无人机1000。当所述主处理单元14要禁止电机启动时，所述主处理单元14可断开所述电调30与电源的连接，使电调停止工作。在其他实施例中，所述主处理单元14也可以输出控制指令至所述电调30，所述电调30根据所述控制指令断开电机与所述电调的电连接，从而禁止所述电机启动。在其他实施例中，所述主处理单元14也可以输出控制指令至所述电调30，所述电调30根据该控制指令不输出脉冲调制信号至所述电机32，从而使得所述电机32不运转。Themain body 1 includes adrone control system 10 that includes amotor control system 12, amain processing unit 14, and astorage unit 16. Thedrone control system 10 is used to control the operation of thedrone 1000. In one embodiment, thedrone 1000 is an unmanned aerial vehicle, and thedrone control system 10 is a flight control system of the unmanned aerial vehicle. Themotor control system 12 is configured to perform interactive communication with theexternal device 2 to set motor start information. Themain processing unit 14 is configured to determine whether to start the motor according to the set motor start information. Themain processing unit 14 is configured to generate anESC 30 that is commanded to be output to thepower system 3, theESC 30 controlling the operation of themotor 32 in accordance with an instruction of themain processing unit 14. When themain processing unit 14 needs to start the motor, themain processing unit 14 outputs a control command to theESC 30, and theESC 30 generates a pulse control signal to control the operation of themotor 32, thereby driving the power mechanism. 34 to move thedrone 1000. When themain processing unit 14 is to prohibit the motor from starting, themain processing unit 14 can disconnect theESC 30 from the power source to stop the ESC. In other embodiments, themain processing unit 14 may also output a control command to theESC 30, and theESC 30 disconnects the electrical connection between the motor and the ESC according to the control command, thereby prohibiting the The motor starts. In other embodiments, themain processing unit 14 may also output a control command to theESC 30, and theESC 30 does not output a pulse modulation signal to themotor 32 according to the control command, thereby causing themotor 32 to Not working.

所述主处理单元14可包括一个或多个处理器，例如一可编程处理器（例，一中央处理器（CPU）。所述主处理单元14连接至一存储单元16（例：非易失性计算机可读介质）。所以存储单元16可存储逻辑、代码及/或可被所述处理单元304执行的一个或多个步骤的程序指令。所述存储单元16可包括一个或多个存储器（例，可移除式介质或类似SD卡或随机存储器（RAM）的外部存储器）。在一些实施例中，来自所述电机控制系统12的数据可直接被传输至并保存在所述存储单元16中。所述存储单元16可存储逻辑、代码及/或可被所述主处理单元14执行的本处所述任何适宜的实施例的方法的程序指令。例如，所述主处理单元14可用于执行指令使得所述主处理单元14的一个或多个处理器分析所述电机启动信息。所述存储单元16可存储即将被所述主处理单元14分析的所述电机启动信息。在一些实施例中，所述存储单元16可用于存储所述主处理单元14产生的处理结果。Themain processing unit 14 may include one or more processors, such as a programmable processor (for example, a central processing unit (CPU). Themain processing unit 14 is connected to a storage unit 16 (eg, non-volatile The computer readable medium. Thestorage unit 16 can store logic, code, and/or program instructions of one or more steps that can be performed by the processing unit 304. Thestorage unit 16 can include one or more memories ( For example, removable media or an external memory such as an SD card or random access memory (RAM). In some embodiments, data from themotor control system 12 can be directly transferred to and stored in thestorage unit 16 Thestorage unit 16 can store logic, code, and/or program instructions of the method of any suitable embodiment described herein that can be performed by themain processing unit 14. For example, themain processing unit 14 can be used Executing instructions cause one or more processors of themain processing unit 14 to analyze the motor start information. Thestorage unit 16 can store the motor start to be analyzed by themain processing unit 14. Interest. In some embodiments, thestorage unit 16 may be used to store the processing result generated by themain processing unit 14.

所述电机控制系统12可以是独立于所述主处理单元14，也可以是集成在所述主处理单元14中的。所述电机控制系统12包括处理器以及与所述处理器耦接的存储器，所述处理器被配置为执行所述存储器中存储的编程指令。所述处理器可为独立于所述主处理单元14的处理器，也可为所述主处理单元14。所述存储器中存储的编程指令包括，但不限于，注册接口程序120、注销接口程序122及配置模块124。所述模块的划分，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。其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块、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模块来实现本实施例方案的目的。另外，各功能模块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。在本实施例中，各模块可为一系列指令的组合。所述模块120、122、124可被所述外部装置2的控制器调用以执行所述模块120、122、124来注册、注销及配置更新所述电机注册信息。Themotor control system 12 may be separate from themain processing unit 14 or integrated into themain processing unit 14. Themotor control system 12 includes a processor and a memory coupled to the processor, the processor configured to execute programming instructions stored in the memory. The processor may be a processor independent of themain processing unit 14, or may be themain processing unit 14. The programming instructions stored in the memory include, but are not limited to, aregistration interface program 120, alogout interface program 122, and aconfiguration module 124. The division of the modules is only a logical function division, and the actual implementation may have another division manner. For example, multiple units or components may be combined or may be integrated into another system, or some features may be ignored or not executed. The modules described as the separate components may or may not be physically separated. The components displayed as modules and units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple networks. On the unit. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, each functional module 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. In this embodiment, each module can be a combination of a series of instructions. Themodules 120, 122, 124 may be invoked by a controller of theexternal device 2 to execute themodules 120, 122, 124 to register, deregister, and configure to update the motor registration information.

所述注册接口程序120允许所述外部装置2注册该外部装置及其对应的电机启动检查项。只有注册过的电机启动检查项才会在电机启动之前被检查。每一外部装置对应一唯一的外部装置ID，每一外部装置对应的电机启动检查项可为多个，每一电机启动检查项对应一电机启动异常代码及使能状态。使能状态标示该电机启动项是否存在错误，例如，采用“0”表示该电机启动项不存在错误，采用“1”表示该电机启动项存在错误。当存在错误时，则禁止电机启动。在一些实施例中，每一电机启动检查项还可包括异常原因。所述电机启动检查项包括，但不限于：环境温度超过第一预设温度，环境温度低于第二预设温度，环境湿度超过预设湿度，环境干扰系数超过预设值，当前风速超过预设风速，电池的当前剩余电量低于预设电量。其中环境温度可通过温度传感器获得，环境干扰系数可通过指南针获得的磁场强度计算得到，风速可通过姿态传感器获得的当前姿态信息计算得到。Theregistration interface program 120 allows theexternal device 2 to register the external device and its corresponding motor start check item. Only registered motor start check items are checked before the motor starts. Each external device corresponds to a unique external device ID, and each external device may have a plurality of motor starting check items, and each motor starting check item corresponds to a motor starting abnormal code and an enabled state. The enable status indicates whether there is an error in the motor start item. For example, “0” indicates that there is no error in the motor start item, and “1” indicates that the motor start item has an error. When there is an error, the motor is inhibited from starting. In some embodiments, each motor start check item may also include an abnormal cause. The motor startup check item includes, but is not limited to, the ambient temperature exceeds the first preset temperature, the ambient temperature is lower than the second preset temperature, the ambient humidity exceeds the preset humidity, the environmental interference coefficient exceeds a preset value, and the current wind speed exceeds the preset Set the wind speed, the current remaining battery power is lower than the preset power. The ambient temperature can be obtained by a temperature sensor, and the environmental interference coefficient can be calculated by the magnetic field strength obtained by the compass, and the wind speed can be calculated by the current attitude information obtained by the attitude sensor.

如图3所示，为一种例示的电机启动信息表。外部装置2对应的电机启动检查项包括100、101、102等电机启动异常代码，所述电机启动异常代码对应的异常原因分别为：环境温度过高、环境湿度过高、环境干扰过大，对应的使能状态分别为：0、0、1，则表明：环境干扰过大，禁止电机启动。外部装置2对应的电机启动检查项包括240、241等电机启动异常代码，所述电机启动异常代码对应的异常原因分别为：风速过大、地形过于复杂，对应的使能状态分别为：0、1，则表明：地形过于复杂，禁止电机启动。As shown in FIG. 3, it is an exemplary motor start information table. The motor start check item corresponding to theexternal device 2 includes motor start abnormal codes such as 100, 101, 102, etc., and the abnormal causes corresponding to the motor start abnormal code are: the ambient temperature is too high, the ambient humidity is too high, and the environmental interference is too large, corresponding The enabled states are: 0, 0, 1, respectively, which indicates that the environmental interference is too large and the motor is prohibited from starting. The motor start check item corresponding to theexternal device 2 includes motor start abnormal codes such as 240 and 241, and the abnormal causes corresponding to the motor start abnormal code are: the wind speed is too large, the terrain is too complicated, and the corresponding enable states are respectively: 0. 1, it shows that the terrain is too complicated to prohibit the motor from starting.

所述注销接口程序122允许所述外部装置2对已经注册的电机启动检查项进行注销。注销后，在启动自检时，所述主处理单元14将不再对该电机启动检查项进行检查。Thelogout interface program 122 allows theexternal device 2 to log out of an already registered motor start check item. After the logout, when the self-test is initiated, themain processing unit 14 will no longer check the motor start check item.

所述配置模块124允许所述外部装置2根据自身实际状况配置每一电机启动检查项的使能状态。当其中一个电机启动检查项的使能状态被所述外部装置2配置为“1”，则主处理单元14禁止所述电机启动。Theconfiguration module 124 allows theexternal device 2 to configure an enable state of each motor start check item according to its actual condition. When the enable state of one of the motor start check items is configured to "1" by theexternal device 2, themain processing unit 14 prohibits the motor from starting.

请参阅图4所示，为本发明一实施例的无人机启动保护方法400的流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。Please refer to FIG. 4, which is a flowchart of a dronestartup protection method 400 according to an embodiment of the present invention. The order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.

步骤402，无人机1000被控制预启动电机。在一实施例中，当无人机1000上电后，接受飞行控制指令欲执行一飞行计划，此时需要启动电机。在其他实施例中，也可以是在无人机停靠于一表面时，受飞行控制指令控制欲执行下一飞行计划，此时需要启动电机。Instep 402, thedrone 1000 is controlled to pre-start the motor. In one embodiment, when thedrone 1000 is powered up, it accepts a flight control command to execute a flight plan, at which point the motor needs to be started. In other embodiments, when the drone is docked on a surface, it is controlled by the flight control command to execute the next flight plan, and the motor needs to be started.

步骤404，所述无人机1000的主控制系统读取外部装置的注册信息。所述注册信息包括外部装置2的ID及其电机启动异常代码及其使能状态。每一外部装置对应一唯一的外部装置ID，每一外部装置对应的电机启动检查项可为多个，每一电机启动检查项对应一电机启动异常代码及使能状态。使能状态标示该电机启动项是否存在错误，例如，采用1表示该电机启动项存在错误，采用“0”表示该电机启动项不存在错误。当存在错误时，则禁止电机启动。Step 404, the main control system of thedrone 1000 reads the registration information of the external device. The registration information includes the ID of theexternal device 2 and its motor start abnormal code and its enabled state. Each external device corresponds to a unique external device ID, and each external device may have a plurality of motor starting check items, and each motor starting check item corresponds to a motor starting abnormal code and an enabled state. The enable status indicates whether there is an error in the motor start item. For example, 1 means that there is an error in the motor start item, and "0" means that the motor start item has no error. When there is an error, the motor is inhibited from starting.

步骤406，所述主处理单元14根据所述外部装置的电机启动项的使能状态确定该外部装置是否存在异常。Step 406, themain processing unit 14 determines whether the external device has an abnormality according to an enabled state of the motor starting item of the external device.

步骤408，所述主处理单元14在所述外部装置存在异常时，禁止电机启动。在一些实施例中，所述无人机1000包括多个外部装置，当其中一个模块有一个禁止启动项的使能状态为“1”时，即禁止电机启动。可以理解的是，在一些实施例中，可以根据用户自定义确定指定禁止启动项的使能状态为“0”时，所述电机被禁止启动。Step 408, themain processing unit 14 prohibits the motor from starting when there is an abnormality in the external device. In some embodiments, thedrone 1000 includes a plurality of external devices that prohibit the motor from starting when one of the modules has an enable state in which the disable entry is "1". It can be understood that, in some embodiments, when the enable state of the designated prohibition start item is determined to be “0” according to user customization, the motor is prohibited from starting.

请参阅图5所示，为本发明一实施例的无人机启动保护方法500的注册流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。Please refer to FIG. 5, which is a flowchart of registration of the UAVstartup protection method 500 according to an embodiment of the present invention. The order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.

步骤502，所述电机控制系统12接收来自所述外部装置2注册的电机启动信息。所述电机启动信息包括所述外部装置2对应的电机禁止启动项信息，例如电机启动异常代码、异常原因、使能状态等。Step 502, themotor control system 12 receives motor start information registered from theexternal device 2. The motor start information includes motor prohibition start item information corresponding to theexternal device 2, such as a motor start abnormal code, an abnormal cause, an enable state, and the like.

步骤504，所述电机控制系统12存储所述电机启动信息至所述存储单元16。在其他实施例中，所述电机控制系统12连接有专门的存储单元，所述专门的存储单元独立于所述存储单元16，专门用于存储所述电机启动信息。Step 504, themotor control system 12 stores the motor start information to thestorage unit 16. In other embodiments, themotor control system 12 is coupled to a dedicated storage unit that is separate from thestorage unit 16 and is dedicated to storing the motor start information.

步骤506，所述电机控制系统12判断是否有注销信息。在本实施例中，当所述外部装置2调用所述注销接口程序124输入自定义注销信息时，所述电机控制系统12判断有注销信息。当有注销信息时，流程进入步骤508，否则进入步骤510。Instep 506, themotor control system 12 determines whether there is logout information. In the present embodiment, when theexternal device 2 invokes thelogout interface program 124 to input custom logout information, themotor control system 12 determines that there is logout information. When there is a logout message, the flow proceeds to step 508, otherwise to step 510.

步骤508，所述电机控制系统12根据注销信息注销存储在所述存储单元16中的电机启动信息中的一项或多项。例如，注销某一外部装置的某一个或几个电机启动检查项，或注销整个外部装置的电机启动检查项。当电机启动检查项被注销后，所述主处理单元14在电机启动之时将不再检查被注销的电机启动检查项。Step 508, themotor control system 12 cancels one or more of the motor start information stored in thestorage unit 16 according to the logout information. For example, deregistering one or several motors of an external device initiates an inspection item, or cancels a motor start check item for the entire external device. When the motor start check item is deregistered, themain processing unit 14 will no longer check the deactivated motor start check item when the motor is started.

步骤510，所述电机控制系统12判断是否有配置信息。在本实施例中，当所述外部装置2调用所述配置模块126输入自定义配置信息时，所述电机控制系统12判断有配置信息。当有配置信息时，流程进入步骤512，否则流程结束。Instep 510, themotor control system 12 determines whether there is configuration information. In the embodiment, when theexternal device 2 invokes the configuration module 126 to input custom configuration information, themotor control system 12 determines that there is configuration information. When there is configuration information, the flow proceeds to step 512, otherwise the flow ends.

步骤512，所述电机控制系统12接收来自所述外部装置2的电机启动配置信息。所述电机启动配置信息为对所述电机启动异常代码对应的使能状态的配置。Atstep 512, themotor control system 12 receives motor start configuration information from theexternal device 2. The motor starting configuration information is a configuration of an enabling state corresponding to the motor starting abnormal code.

步骤514，所述电机控制系统12根据电机启动配置信息更新所述存储单元16中存储的所述电机启动信息。Step 514, themotor control system 12 updates the motor start information stored in thestorage unit 16 according to the motor start configuration information.

请参阅图6所示，为本发明一实施例的无人机启动保护方法600的流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。Please refer to FIG. 6 , which is a flowchart of a dronestartup protection method 600 according to an embodiment of the invention. The order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.

步骤602，所述外部装置2调用注册接口程序122。Step 602, theexternal device 2 invokes theregistration interface program 122.

步骤604，所述外部装置2接收用户输入生成电机启动信息，并提交至存储单元16保存。所述电机启动信息包括所述外部装置2对应的电机禁止启动项信息，例如电机启动异常代码、异常原因、使能状态等。在一些实施例中，注册的电机启动信息中，所述电机启动异常代码对应的使能状态可以缺省不赋值。当不赋值时，所述主处理单元14在电机启动之时，检测各电机启动项，并根据检测的结果对各电机启动异常代码对应的使能状态进行赋值。在一些实施例中，注册的电机启动信息中，所述电机启动异常代码对应的使能状态也可以默认设置为0，即表示该外部装置2的所有零组件均无异常。当电机启动之时，所述外部装置2启动自检来对所述电机启动异常代码对应的使能状态进行赋值处理。Step 604, theexternal device 2 receives the user input to generate motor start information, and submits it to thestorage unit 16 for storage. The motor start information includes motor prohibition start item information corresponding to theexternal device 2, such as a motor start abnormal code, an abnormal cause, an enable state, and the like. In some embodiments, in the registered motor startup information, the enabled state corresponding to the motor startup exception code may not be assigned by default. When no value is assigned, themain processing unit 14 detects each motor starting item when the motor is started, and assigns an enabling state corresponding to each motor starting abnormal code according to the detected result. In some embodiments, in the registered motor start information, the enable state corresponding to the motor start abnormal code may also be set to 0 by default, that is, all components of theexternal device 2 are not abnormal. When the motor is started, theexternal device 2 initiates a self-test to perform an assignment process on the enabled state corresponding to the motor start abnormal code.

步骤606，所述外部装置2基于用户操作判断是否需要注销电机启动信息。如果是，流程进入步骤608，否则流程结束。Instep 606, theexternal device 2 determines whether it is necessary to log off the motor start information based on the user operation. If so, the flow proceeds to step 608, otherwise the process ends.

步骤608，所述外部装置2调用注销接口程序124。Instep 608, theexternal device 2 invokes thelogout interface program 124.

步骤610，所述外部装置2从存储器读取电机启动信息608。In step 610, theexternal device 2 reads themotor start information 608 from the memory.

步骤612，所述外部装置2接收用户输入提交注销信息。具体地，所述外部装置2基于用户操作从读取的电机启动信息中选择需要注销的电机启动项信息，然后将确定的注销信息提交保存。所述电机控制系统12根据提交的注销信息更新存储器中的电机启动信息。在其他实施例中，也可以是所述外部装置2直接根据所述注销信息更新所述存储单元16中的电机启动信息。Step 612, theexternal device 2 receives the user input and submits the logout information. Specifically, theexternal device 2 selects motor start item information that needs to be deregistered from the read motor start information based on a user operation, and then submits the determined logout information to save. Themotor control system 12 updates the motor start information in the memory based on the submitted logout information. In other embodiments, theexternal device 2 may directly update the motor startup information in thestorage unit 16 according to the logout information.

请参阅图7所示，为本发明一实施例的无人机启动保护方法700的流程图。根据不同需求，该流程图中步骤的顺序可以改变，某些步骤可以省略或合并。Please refer to FIG. 7 , which is a flowchart of a dronestartup protection method 700 according to an embodiment of the present invention. The order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted or combined.

步骤702，所述外部装置2对自身进行检测。例如云台检测各组件的连接是否可靠、通信是否正常、电调及电机是否正常等。所述外部装置2的自检可发生在所述无人机1000开机自检前或电机启动之时。Instep 702, theexternal device 2 detects itself. For example, the PTZ detects whether the connection of each component is reliable, whether the communication is normal, the ESC and the motor are normal. The self-test of theexternal device 2 may occur before theUAV 1000 is powered on or when the motor is started.

步骤704，所述外部装置2根据检测结果判断是否存在异常，当存在异常时，流程进入步骤706，否则流程结束。Step 704, theexternal device 2 determines whether there is an abnormality according to the detection result. When there is an abnormality, the flow proceeds to step 706, otherwise the flow ends.

步骤706，所述外部装置2调用配置模块126。Instep 706, theexternal device 2 invokes the configuration module 126.

步骤708，所述外部装置2从存储单元16中读取所述电机启动信息。Step 708, theexternal device 2 reads the motor start information from thestorage unit 16.

步骤710，所述外部装置2根据用户输入信息提交配置信息。具体地，所述外部装置2基于用户操作从读取的电机启动信息中选择需要配置的电机启动项信息，然后将确定的配置信息提交保存。所述电机控制系统12根据提交的配置信息更新存储器中的电机启动信息。在其他实施例中，也可以是所述外部装置2直接根据所述配置信息更新所述存储单元16中的电机启动信息。Instep 710, theexternal device 2 submits configuration information according to user input information. Specifically, theexternal device 2 selects motor start item information to be configured from the read motor start information based on a user operation, and then submits the determined configuration information to save. Themotor control system 12 updates the motor start information in the memory based on the submitted configuration information. In other embodiments, theexternal device 2 may also directly update the motor startup information in thestorage unit 16 according to the configuration information.

可以理解的是，所述电机启动项的电机启动异常代码对应的使能状态也可以在所述外部装置2注册时即已经赋好值，这样就不再需要进行后续的配置电机启动信息。It can be understood that the enable state corresponding to the motor start abnormal code of the motor start item can also be set when theexternal device 2 is registered, so that the subsequent configuration motor start information is no longer needed.

在上述的实施例中，所述外部装置可包括应用程序（APP），当所述主处理单元14在开机自检发现异常时，将所述异常原因发送至所述应用程序，以提示用户。在其他实施例中，所述异常原因还可通过所述无人机1000的收发器发送至远端设备。In the above embodiment, the external device may include an application program (APP), and when themain processing unit 14 finds an abnormality in the power-on self-test, sends the abnormal cause to the application to prompt the user. In other embodiments, the cause of the anomaly may also be sent to the remote device through the transceiver of thedrone 1000.

另外，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。In addition, those skilled in the art can make various other changes and modifications in accordance with the technical concept of the present invention, and all such changes and modifications are within the scope of the claims of the present invention.

Claims (28)

Translated fromChinese

一种无人机的电机控制系统，其特征在于，所述电机控制系统与外部装置通信连接，所述无人机的电机控制系统包括处理器以及与所述处理器耦接的存储器，所述处理器被配置为执行所述存储器中存储的编程指令： A motor control system for a drone, wherein the motor control system is communicatively coupled to an external device, the motor control system of the drone comprising a processor and a memory coupled to the processor, The processor is configured to execute programming instructions stored in the memory:注册接口程序，被配置为用于被所述外部装置调用，以注册电机启动信息，所述电机启动信息包括电机启动检查项；Registering an interface program configured to be called by the external device to register motor start information, the motor start information including a motor start check item;注销接口程序，被配置为用于被所述外部装置调用，以注销已注册的所述电机启动信息；Deregistering an interface program configured to be called by the external device to log out the registered motor start information;配置接口程序，被配置为用于被所述外部装置调用，以配置所述电机启动检查项被检测到时所述电机的状态；Configuring an interface program configured to be called by the external device to configure a state of the motor when the motor start check item is detected;电机控制程序，被配置为用于在所述电机启动检查项被检测到时，根据配置的所述电机状态确定所述电机是否启动。A motor control program configured to determine whether the motor is started according to the configured motor state when the motor start check item is detected. 如权利要求1所述的电机控制系统，其特征在于，所述电机的状态包括如下至少一种：禁止电机启动，允许电机启动。 The motor control system of claim 1 wherein the state of the motor comprises at least one of: inhibiting motor starting, allowing the motor to start. 如权利要求1所述的电机控制系统，其特征在于，所述电机启动检查项包括如下至少一种：环境温度超过第一预设温度，环境温度低于第二预设温度，环境湿度超过预设湿度，环境干扰系数超过预设值，当前风速超过预设风速，电池的当前剩余电量低于预设电量。 The motor control system according to claim 1, wherein the motor starting check item comprises at least one of the following: the ambient temperature exceeds the first preset temperature, the ambient temperature is lower than the second preset temperature, and the ambient humidity exceeds the pre-predetermined temperature. Set the humidity, the environmental interference coefficient exceeds the preset value, the current wind speed exceeds the preset wind speed, and the current remaining battery capacity of the battery is lower than the preset power. 如权利要求1所述的电机控制系统，其特征在于，所述电机启动检查项包括电机启动异常代码及对应的使能状态，所述使能状态在注册时赋值为空，在所述无人机启动电机启动之时通过所述配置接口程序被赋值。 A motor control system according to claim 1, wherein said motor start check item includes a motor start abnormal code and a corresponding enable state, said enable state being assigned an empty value at registration, in said unmanned When the machine start motor is started, it is assigned by the configuration interface program. 如权利要求1所述的电机控制系统，其特征在于，所述配置的所述电机状态为所述电机是否为使能状态，所述使能状态在注册时由所述外部装置根据自身状况进行赋值。 The motor control system according to claim 1, wherein said motor state of said configuration is whether said motor is in an enabled state, said enabled state being registered by said external device according to its own condition at the time of registration Assignment. 如权利要求5所述的电机控制系统，其特征在于，使能状态为“1”表示在该电机启动检查项被检查到时，将电机的状态设置为使能，禁止电机启动，使能状态为“0”表示在该电机启动检查项没有被检查到时，将电机的状态设置为非使能，允许电机启动。 The motor control system according to claim 5, wherein the enable state is "1", indicating that when the motor start check item is checked, setting the state of the motor to enable, prohibiting the motor from starting, enabling state A "0" indicates that the motor state is set to non-enabled when the motor start check item is not checked, allowing the motor to start. 如权利要求5所述的电机控制系统，其特征在于，所述电机启动检查项还包括异常原因，每一电机启动异常代码对应一异常原因。 The motor control system according to claim 5, wherein said motor start check item further comprises an abnormal cause, and each motor start abnormal code corresponds to an abnormal cause. 如权利要求7所述的电机控制系统，其特征在于，所述异常原因能够被发送至应用程序或远端设备进行显示。 The motor control system of claim 7 wherein said cause of the abnormality can be sent to an application or remote device for display. 一种无人机控制系统，包括主处理单元和存储单元，其特征在于，所述无人机控制系统还包括权利要求1至8任一项所述的电机控制系统，所述主处理单元用于电机启动之时检查已注册且没被注销的电机启动检查项，当所述电机启动检查项存在异常时，所述主处理单元禁止电机启动。 A UAV control system comprising a main processing unit and a storage unit, wherein the UAV control system further comprises the motor control system according to any one of claims 1 to 8, the main processing unit When the motor is started, the motor startup check item that has been registered and has not been logged out is checked, and when the motor start check item has an abnormality, the main processing unit prohibits the motor from starting. 如权利要求9所述的无人机控制系统，其特征在于，所述存储单元用于存储所述电机启动信息。 The drone control system according to claim 9, wherein said storage unit is configured to store said motor start information. 如权利要求9所述的无人机控制系统，其特征在于，所述电机控制系统独立于所述主处理单元或与所述主处理单元集成在一起。 The UAV control system of claim 9 wherein said motor control system is integrated with or integral with said main processing unit. 一种无人机，包括主体、动力系统及外部装置，其特征在于，所述主体包括权利要求9所述的无人机控制系统。 A drone comprising a main body, a power system and an external device, characterized in that the main body comprises the drone control system according to claim 9. 如权利要求12所述的无人机，其特征在于，所述外部装置为云台、应用程序、用于执行特定功能的传感器中的一种或几种。 The drone according to claim 12, wherein said external device is one or more of a pan/tilt, an application, and a sensor for performing a specific function. 如权利要求12所述的无人机，其特征在于，所述动力系统包括电调、电机和螺旋桨，所述电调驱动电机的转子转动以带动所述螺旋桨，从而提供推动力给所述无人机。 A drone according to claim 12, wherein said power system includes an electric motor, a motor and a propeller, and said rotor of said electric drive motor rotates to drive said propeller to provide a driving force to said Man-machine. 如权利要求12所述的无人机，其特征在于，所述主处理单元通过断开所述电调与电源的连接来禁止电机启动。 The drone according to claim 12, wherein said main processing unit prohibits motor starting by disconnecting said ESC from a power source. 如权利要求12所述的无人机，其特征在于，所述主处理单元发送控制指令至所述电调，所述电调根据所述控制指令禁止所述电机启动。 The drone according to claim 12, wherein said main processing unit transmits a control command to said ESC, said ESC prohibiting said motor from being activated in accordance with said control command. 一种电机启动保护方法，应用于无人机，其特征在于，所述方法包括： A motor starting protection method is applied to a drone, characterized in that the method comprises:从存储单元读取电机启动信息，所述电机启动信息包括电机启动检查项；每一电机启动检查项与一外部装置关联，所述电机启动检查项能够被所述外部装置自定义更新；Reading motor start information from a storage unit, the motor start information including a motor start check item; each motor start check item being associated with an external device, the motor start check item being customizable by the external device;根据所述电机启动信息确定所述外部装置是否异常；及Determining whether the external device is abnormal according to the motor startup information; and当所述外部装置存在异常时，禁止电机启动。When the external device has an abnormality, the motor is prohibited from starting. 如权利要求17所述的方法，其特征在于，所述方法包括接收来自所述外部装置注册的电机启动信息，及保存所述电机启动信息至所述存储单元，其中只有已注册并保存在所述存储单元的电机启动检查项在无人机的电机启动之时才会被检查。 The method of claim 17, wherein said method comprises receiving motor start information registered from said external device, and saving said motor start information to said storage unit, wherein only registered and stored in said The motor start check item of the storage unit is not checked until the motor of the drone is started. 如权利要求17所述的方法，其特征在于，所述方法包括接收来自所述外部装置的注销信息，及根据所述注销信息更新所述存储单元中存储的电机启动信息，其中已注销的电机启动检查项在无人机的电机启动之时不再被检查。 The method according to claim 17, wherein said method comprises receiving logout information from said external device, and updating motor start information stored in said storage unit based on said logout information, wherein said deregistered motor The startup check item is no longer checked when the motor of the drone is started. 如权利要求17所述的方法，其特征在于，所述电机启动检查项包括电机启动异常代码及其对应的使能状态。 The method of claim 17 wherein said motor start check item comprises a motor start exception code and its corresponding enable state. 如权利要求20所述的方法，其特征在于，所述方法包括接收来自所述外部装置的配置信息，及根据所述配置信息更新所述存储单元中存储的电机启动信息，所述配置信息包括对各电机启动检查项的使能状态赋值。 The method of claim 20, wherein the method comprises receiving configuration information from the external device, and updating motor start information stored in the storage unit based on the configuration information, the configuration information comprising Assign the enable status of each motor start check item. 如权利要求20所述的方法，其特征在于，所述电机启动检查项还包括异常原因，所述方法还包括发送所述异常原因至远端设备或与所述主处理单元通信连接的应用程序显示。 The method of claim 20 wherein said motor start check item further comprises an cause of abnormality, said method further comprising transmitting said cause of said abnormality to a remote device or an application communicatively coupled to said main processing unit display. 一种电机启动保护方法，应用于无人机的外部装置，其特征在于，所述方法包括： A motor start protection method for an external device of a drone, characterized in that the method comprises:调用所述无人机的注册接口程序；Calling the registration interface program of the drone;接收用户输入生成电机启动信息，所述电机启动信息包括电机启动检查项，只有注册的电机启动检查项才会在无人机的电机启动之时被检查；及Receiving a user input to generate motor start information, the motor start information includes a motor start check item, and only the registered motor start check item is checked when the motor of the drone is started; and提交电机启动信息。Submit the motor start information. 如权利要求23所述的方法，其特征在于，所述方法包括： The method of claim 23, wherein the method comprises:读取已注册的电机启动检查项；Read the registered motor start check item;接收用户输入确定要注销的电机启动检查项；及Receiving a motor-initiated check item determined by the user input to be logged off; and提交注销的电机启动信息，其中注销的电机启动检查项在所述无人机的电机启动之时不再被检查。The motor start information of the logout is submitted, wherein the motor start check item that is logged off is no longer checked when the motor of the drone is started. 如权利要求23所述的方法，其特征在于，所述电机启动检查项包括电机启动异常代码及其对应的使能状态。 The method of claim 23 wherein said motor start check item comprises a motor start exception code and its corresponding enable state. 如权利要求25所述的方法，其特征在于，所述方法包括： The method of claim 25, wherein the method comprises:读取已注册的电机启动检查项；Read the registered motor start check item;接收用户输入确定要配置的电机启动检查项；及Receiving user input to determine the motor start check item to be configured; and提交配置的电机启动信息，其中所述配置的电机启动信息包括对各电机启动检查项的使能状态赋值。The configured motor start information is submitted, wherein the configured motor start information includes an enable state assignment for each motor start check item. 如权利要求25所述的方法，其特征在于，所述方法包括： The method of claim 25, wherein the method comprises:对自身进行检测；及Testing itself; and根据检测结果确定要配置的电机启动检查项。Determine the motor start check item to be configured based on the test result. 如权利要求25所述的方法，其特征在于，所述使能状态在注册时赋值为空，在所述无人机启动电机之前时被赋值。 The method of claim 25 wherein said enabled state is assigned an empty value upon registration and is assigned a value before said drone starts the motor.

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