CN118220572A

CN118220572A - Protection method of movable platform rotor wing, program product and electronic equipment

Info

Publication number: CN118220572A
Application number: CN202410649896.XA
Authority: CN
Inventors: 陈方平; 白利敏; 高明; 覃光勇; 朱胜利; 马辉; 任新宇; 刘磊
Original assignee: Tianjin Yunsheng Intelligent Technology Co ltd
Current assignee: Tianjin Yunsheng Intelligent Technology Co ltd
Priority date: 2024-05-24
Filing date: 2024-05-24
Publication date: 2024-06-21

Abstract

The embodiment of the application provides a protection method of a rotor wing of a movable platform, a program product and electronic equipment, wherein the movable platform is provided with a corresponding accommodating bin, and the accommodating bin is used for accommodating the movable platform; the method comprises the following steps: controlling an anti-freezing device in the accommodating bin to perform anti-freezing treatment on the movable platform; controlling the movable platform subjected to the anti-freezing treatment to execute a preset task; and monitoring the icing condition of the rotor wing of the movable platform in the process of executing a preset task. By means of icing defense before task execution and icing condition monitoring during task execution, operation safety guarantee is provided for the movable platform from multiple aspects, and accidents caused by icing are reduced.

Description

Protection method of movable platform rotor wing, program product and electronic equipment

Technical Field

The application relates to the technical field of movable platforms, in particular to a protection method of a movable platform rotor wing, a program product and electronic equipment.

Background

Currently, mobile platforms such as Unmanned (AERIAL VEHICLE, UAV), unmanned vehicles, robots, etc. have been widely used in a variety of fields. However, if the movable platform performs the task in the cold and high humidity condition, the safety of the operation cannot be ensured due to the icing of the platform. Therefore, how to provide a safety guarantee for the operation of the movable platform is a technical problem to be solved in the field.

Disclosure of Invention

The embodiment of the application aims to provide a protection method of a movable platform rotor wing, a program product and electronic equipment, which are used for realizing the technical effect of guaranteeing the operation safety of the movable platform.

The first aspect of the embodiment of the application provides a protection method for a rotor wing of a movable platform, wherein the movable platform is provided with a containing bin correspondingly, and the containing bin is used for containing the movable platform; the method comprises the following steps:

Controlling an anti-freezing device in the accommodating bin to perform anti-freezing treatment on the movable platform;

controlling the movable platform subjected to the anti-freezing treatment to execute a preset task;

and monitoring the icing condition of the rotor wing of the movable platform in the process of executing the preset task.

In the implementation process, before the movable platform executes the preset task, the movable platform is subjected to anti-freezing treatment, and then the preset task is executed. And monitoring icing conditions of the rotor wings of the movable platform in the task execution process, so as to take corresponding safety measures. By means of icing defense before task execution and icing condition monitoring during task execution, operation safety guarantee is provided for the movable platform from multiple aspects, and accidents caused by icing are reduced.

Further, before the controlling the anti-freezing device in the accommodating bin to perform anti-freezing treatment on the movable platform, the method further comprises:

Determining that environmental parameters of the environment where the movable platform is positioned meet preset conditions;

wherein the preset condition comprises that the ambient humidity is greater than a humidity threshold and/or the ambient temperature is lower than a temperature threshold.

In the implementation process, the icing risk of the movable platform is estimated by using the environmental parameters of the environment in which the movable platform is located. When the environment where the movable platform is located is determined to meet the condition that the ambient humidity is greater than the humidity threshold and/or the ambient temperature is lower than the temperature threshold, the movable platform is pertinently subjected to anti-freezing treatment and icing monitoring, and accurate safety guarantee for the movable platform is achieved.

Further, the monitoring icing conditions of the movable platform rotor includes:

Determining a monitoring frequency according to environmental parameters of the environment where the movable platform is located;

and monitoring icing conditions of the rotor wing of the movable platform based on the monitoring frequency.

In the implementation process, the monitoring frequency is adaptively adjusted by utilizing the environmental parameters of the movable platform, so that the monitoring frequency is increased for the environment which is easy to cause the rotor to freeze, and the icing condition is found in time; the monitoring frequency is reduced for the environment which is not easy to cause the rotor wing icing, so that unnecessary resource expenditure is saved, and the precise safety guarantee for the movable platform is realized.

Further, the antifreeze device comprises a coating device; the coating device stores an antifreezing material; the controlling the anti-freezing device in the accommodating bin to perform anti-freezing treatment on the movable platform comprises the following steps:

And controlling the coating device to apply the antifreeze material to the rotor wing of the movable platform.

In the implementation process, the rotor wing of the movable platform is subjected to anti-freezing treatment in a manner of coating anti-freezing materials, so that the rotor wing can be prevented from being frozen in a low-temperature high-humidity environment to a certain extent, and the operation safety of the movable platform is ensured.

Further, the movable platform is provided with a motor, and the motor is used for driving the rotor wing; the monitoring of icing conditions of the movable platform rotor comprises:

Determining a real-time torque of the rotor wing based on an input current of the motor and an idle parameter; wherein the idle load parameter is used for indicating a state of the motor when the motor runs idle;

Determining a real-time torque coefficient of the rotor based on the dimensional parameter of the rotor, the real-time torque, and the real-time rotational speed of the motor;

monitoring whether the rotor is frozen based on the live torque coefficient and the non-icing torque coefficient.

In the implementation process, the torque coefficient of the rotor wing can be affected by whether the rotor wing is frozen or not, so that whether the rotor wing is frozen or not can be monitored in real time by comparing the monitored real-time torque coefficient with the non-frozen torque coefficient, corresponding measures can be taken in time, and the potential safety hazard of the movable platform running in the frozen state of the rotor wing can be reduced.

Further, the method further comprises:

and if the rotor wing of the movable platform is determined to be frozen, generating alarm information.

In the implementation process, the potential safety hazard of the movable platform in the icing state is reduced by monitoring the icing condition of the rotor wing and generating corresponding alarm information.

Further, the method further comprises:

and controlling the movable platform to return to the accommodating bin according to the icing condition of the rotor wing.

In the implementation process, the movable platform is controlled to return to the accommodating bin in the process of executing the preset task by monitoring the icing condition of the rotor wing, so that the operation safety of the movable platform is greatly improved and ensured.

Further, the movable platform comprises a rotorcraft unmanned aerial vehicle; the accommodating bin comprises a hangar for accommodating the unmanned aerial vehicle.

In the implementation process, the anti-icing measure is adopted before the rotor unmanned aerial vehicle executes the task, and the icing condition of the rotor in the rotor unmanned aerial vehicle is monitored, so that the operation safety of the rotor unmanned aerial vehicle is greatly improved and guaranteed.

A second aspect of an embodiment of the application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the first aspects.

A third aspect of an embodiment of the present application provides an electronic device, including:

A processor;

a memory for storing processor-executable instructions;

wherein the processor, when invoking the executable instructions, performs the operations of the method of any of the first aspects.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a protection method for a rotor wing of a movable platform according to an embodiment of the present application;

Fig. 2-4 are schematic flow diagrams of another protection method for a rotor wing of a movable platform according to an embodiment of the present application;

Fig. 5 is a schematic perspective view of a hangar of a rotary-wing unmanned aerial vehicle according to an embodiment of the present application;

FIG. 6 is a schematic architectural diagram of a movable platform provided by an embodiment of the present application;

Fig. 7 is a schematic flow chart of a rotor icing monitoring method according to an embodiment of the present application;

fig. 8 is a hardware configuration diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

A mobile platform refers to any device capable of moving and may include, but is not limited to, land vehicles, water vehicles, air vehicles, and other types of motorized vehicles. As examples, the movable platform may be an unmanned aerial vehicle, an unmanned vehicle, a robot, or the like. Mobile platforms have found widespread use in a number of fields.

The movable platform is involved in working under different environments. When the movable platform works in a cold and high-humidity environment, the working safety can not be ensured due to the fact that the platform is frozen. Taking the flying platform with the rotor as an example, the windward side and the tail of the rotor blade are easy to freeze, so that the performance of a power system of the flying platform can be influenced, the flying platform faces potential safety hazards, and even a frying accident can be caused when serious.

Taking a flying platform as an example, in the related art, in order to ensure the operation safety of the movable platform, the flying platform is directly refused to take off when the movable platform is exposed to cold and high-humidity weather. In addition, for a large helicopter, a heating device can be additionally arranged at the blade of the helicopter, so that the icing condition of the blade is improved. But the heating device is not suitable for small and medium-sized unmanned aerial vehicles, such as multi-rotor unmanned aerial vehicles. Therefore, how to provide safety guarantee for a movable platform, such as a small and medium-sized unmanned aerial vehicle, is a technical problem to be solved in the field.

Therefore, the application provides a protection method for the rotor wing of the movable platform. Wherein the movable platform comprises a rotor operable to control movement of the movable platform. Taking the unmanned aerial vehicle as an example, the unmanned aerial vehicle can control the movement of the unmanned aerial vehicle through the rotor wings, including advancing, stopping, steering, ascending, landing and the like.

In addition, the movable platform is correspondingly provided with a containing bin. The accommodating bin is used for accommodating the movable platform. The number relationship between the movable platforms and the accommodating bins can be one-to-one, namely, each movable platform corresponds to one accommodating bin; or a one-to-many relationship, namely, one movable platform corresponds to a plurality of accommodating bins; or a many-to-one relationship, i.e., a plurality of movable platforms corresponds to one storage bin. The application is not limited here to the quantitative relationship between the movable platform and the receiving compartment.

The housing compartment may be carried with various components for use with the movable platform including, for example, but not limited to, antifreeze devices, power changing devices, compartment changing devices, lights, and the like.

In some embodiments, the movable platform may be a drone, such as a multi-rotor drone; the accommodating bin may be a hangar of an unmanned aerial vehicle.

Fig. 1 shows a flow chart of a method for protecting a rotor wing of a movable platform according to the present application, which includes steps 110 to 130. Wherein the method may be performed by a control center. The control center is used for controlling the movable platform and the accommodating bin. Optionally, the control center is independent from the movable platform and the equipment outside the accommodating bin, for example, is a center console. Alternatively, the control center may be integrated in the receiving compartment.

Step 110: and controlling an anti-freezing device in the accommodating bin to perform anti-freezing treatment on the movable platform.

In this embodiment, the accommodating bin is provided with an anti-freezing device, and the anti-freezing device is used for performing anti-freezing treatment on the movable platform. The entire movable platform may be subjected to the antifreeze treatment, or only the parts of the movable platform related to the safety of the work may be subjected to the antifreeze treatment.

As an example, step 110 may include: before executing a preset task, controlling the anti-freezing device to conduct anti-freezing treatment on the movable platform.

As an example, step 110 may include: and responding to a task execution instruction, controlling the anti-freezing device to conduct anti-freezing treatment on the movable platform, wherein the task execution instruction is used for indicating the movable platform to execute a preset task.

That is, the mobile platform does not immediately execute the indicated preset task when receiving the task execution instruction, but performs the anti-freezing treatment on the mobile platform by the accommodating bin.

Step 120: and controlling the movable platform after the antifreezing treatment to execute a preset task.

After the freeze protection process is completed, the movable platform may perform a preset task.

Alternatively, the movable platform may perform a preset task according to a preset route. Taking an unmanned aerial vehicle as an example, the preset route is a preset route; the preset tasks may include, but are not limited to, cruise tasks, irrigation tasks, delivery tasks, and the like.

Step 130: and monitoring the icing condition of the rotor wing of the movable platform in the process of executing the preset task.

During the process of the movable platform executing the preset task, the icing condition of the rotor wing can be periodically monitored. The monitoring period can be set by a technician according to actual needs, and the icing monitoring method can refer to the related art, and the application is not limited herein.

It can be seen that in this embodiment, before the movable platform performs the preset task, the movable platform is subjected to the anti-freezing treatment first, and then the preset task is performed. And monitoring icing conditions of the rotor wings during task execution, so as to take corresponding safety measures. By means of icing defense before task execution and icing condition monitoring during task execution, operation safety guarantee is provided for the movable platform from multiple aspects, and accidents caused by icing are reduced.

The following detailed description of steps 110-130 is provided.

In some embodiments, the method of protecting a moveable platform rotor may include steps 200-230 as shown in fig. 2.

Step 200: determining that environmental parameters of the environment where the movable platform is positioned meet preset conditions;

wherein the preset conditions comprise that the ambient humidity is greater than a humidity threshold and/or the ambient temperature is lower than a temperature threshold;

Step 210: controlling an anti-freezing device in the accommodating bin to perform anti-freezing treatment on the movable platform;

Step 220: controlling the movable platform subjected to the anti-freezing treatment to execute a preset task;

step 230: and monitoring the icing condition of the rotor wing of the movable platform in the process of executing the preset task.

The specific implementation of steps 210-230 may refer to steps 110-130, and will not be described herein. In this embodiment, before executing step 210, it is first determined that the environmental parameters of the environment where the movable platform is located meet the preset conditions.

As an example, the environmental parameter includes an environmental humidity, and the preset condition includes the environmental humidity being greater than a preset humidity threshold. And when the environmental parameters meet preset conditions, the movable platform is in a high-humidity environment.

As an example, the environmental parameter includes an environmental temperature and the preset condition includes the environmental temperature being below a preset temperature threshold. And when the environmental parameters meet preset conditions, the movable platform is in a low-temperature cold environment.

As an example, the environmental parameter includes an environmental humidity and an environmental temperature, and the preset condition includes the environmental humidity being greater than a preset humidity threshold and the environmental temperature being lower than a preset temperature threshold. When the environmental parameters meet preset conditions, the movable platform is in a high-humidity low-temperature environment.

That is, in this embodiment, when the environmental parameters of the environment where the movable platform is located conform to the preset conditions, the movable platform is subjected to anti-freezing treatment, and the icing condition of the rotor wing of the movable platform is monitored during the execution of the preset task.

Alternatively, in the case where the environmental parameters do not meet the preset conditions, the movable platform may not be subjected to the antifreeze treatment.

Of course, in order to flexibly cope with environmental changes, the antifreeze treatment may be performed before each execution of the preset task, regardless of whether the environmental parameter meets the preset condition.

In addition, the environmental parameters may be obtained from meteorological data collected by a meteorological center. Or the weather sensor can be carried outside the accommodating bin, and the environmental parameters can be obtained through sensing data acquired by the weather sensor. Or if the preset task is executed according to a preset route, and other movable platforms currently exist to operate according to the preset route, and the other movable platforms are provided with thermometers, the environmental temperature in the environmental parameters can be acquired through temperature data returned by the other movable platforms, so that the accurate environmental temperature of each position on the preset route can be acquired in real time.

As an example, the preset task is performed according to a preset route. The preset route comprises a plurality of task points. The preset route may be carried in a task execution instruction. The mobile platform can sequentially reach a plurality of task points according to a preset route to execute a preset task. Considering that the plurality of task points may be far apart and the environmental difference is large, the icing risk of the movable platform when the movable platform performs the preset task at different task points may be different, so the environmental parameters may include environmental parameters of the plurality of task points. Therefore, before the mobile platform executes the preset task, the environment parameters of a plurality of task points on the preset route can be acquired first.

Taking an unmanned aerial vehicle as an example, the preset route is a preset route, and the task point is a waypoint on the preset route. The environmental parameters include environmental parameters of a plurality of waypoints.

On the basis that the environmental parameters include environmental parameters of a plurality of task points, as an example, the determining in step 200 that the environmental parameters of the environment where the movable platform is located meet the preset conditions may specifically include: and determining that the environmental parameters of the preset number of task points accord with preset conditions.

That is, in the preset route, if at least the environmental parameters of the preset number of task points meet the preset conditions, the movable platform is subjected to anti-freezing treatment, and the icing condition of the rotor wing of the movable platform is monitored in the process of executing the preset tasks. Wherein the preset number may be determined by a skilled person according to practical situations, for example, including but not limited to 1, 50%, etc.

As another example, the preset route includes a plurality of task points, and each task point carries a corresponding task duration. Based on this, in step 200, determining that the environmental parameters of the environment where the movable platform is located meet the preset conditions may specifically include:

determining target task points with environmental parameters meeting preset conditions from a plurality of task points;

And determining that the statistical time length exceeds a preset time length threshold according to the time length of the task corresponding to each target task point.

For example, the statistical time length is the sum of the task time lengths corresponding to the target task points. The statistical time length indicates the icing risk of the rotor wing of the movable platform, so that when the statistical time length exceeds a time length threshold value, the movable platform is subjected to anti-freezing treatment, and the icing condition of the rotor wing of the movable platform is monitored in the process of executing a preset task. The time length threshold can be set by a technician according to actual needs.

Taking the cruise task of the unmanned aerial vehicle as an example, in some scenarios, the unmanned aerial vehicle may hover at different waypoints for different durations after reaching each waypoint. If the weather conditions differ greatly between different waypoints, the risk of the unmanned aerial vehicle facing icing is related to the weather conditions of the waypoints and to the task duration of the unmanned aerial vehicle at the waypoints. For example, if waypoint a is at a lower ambient temperature and higher ambient humidity than waypoint B, but if the residence time at waypoint a is short, then the drone will not necessarily freeze at waypoint a. Therefore, in order to more accurately evaluate the icing risk of the unmanned aerial vehicle, a target waypoint with environmental parameters meeting preset conditions can be determined from a plurality of waypoints of the route, and then the task duration of the target waypoint is counted to obtain the counted duration. And comparing the statistical time length with a time length threshold value to consider the icing risk of the unmanned aerial vehicle when the unmanned aerial vehicle executes the task, and then determining whether to take safety measures of freeze protection before take-off and icing monitoring during cruising.

It can be seen that in this embodiment, the risk of icing of the rotor of the mobile platform is assessed using the environmental parameters of the environment in which the mobile platform is located. When the environment where the movable platform is located is determined to meet the condition that the ambient humidity is greater than the humidity threshold and/or the ambient temperature is lower than the temperature threshold, the movable platform is pertinently subjected to anti-freezing treatment and icing monitoring, and accurate safety guarantee for the movable platform is achieved.

Based on any of the above embodiments, the monitoring process of the icing condition of the rotor of the movable platform in step 130 and step 230 may specifically include steps 310-320 as shown in fig. 3.

Step 310: determining a monitoring frequency according to environmental parameters of the environment where the movable platform is located;

Step 320: and monitoring icing conditions of the rotor wing of the movable platform based on the monitoring frequency.

Illustratively, the environmental parameters may include, but are not limited to, ambient humidity, ambient temperature, and the like. Wherein the ambient humidity is positively correlated with the monitoring frequency; the ambient temperature is inversely related to the monitoring frequency.

As an example, step 200 may also be performed prior to performing step 310, i.e., determining that the environmental parameter meets the preset condition. That is, under the condition that the environmental parameter meets the preset condition, the monitoring frequency is determined according to the environmental parameter, and the icing condition of the rotor wing of the movable platform is monitored based on the monitoring frequency in the process that the movable platform executes the preset task. Under the condition that the environmental parameters do not accord with preset conditions, the icing condition of the rotor wing of the movable platform is not required to be monitored, namely the monitoring frequency is set to be 0.

As an example, the environmental parameters include environmental parameters of a plurality of task points, and the steps 310 to 320 may specifically include: aiming at each task point in a preset route, determining the monitoring frequency corresponding to the task point according to the environmental parameters of the task point; and monitoring the icing condition of the rotor wing when the movable platform reaches the task point based on the monitoring frequency.

Thus, the monitoring frequencies of the movable platform corresponding to different task points may be the same or different.

Alternatively, when it is determined that the environmental parameters of the preset number of task points meet the preset conditions, the monitoring frequency may be determined based on the environmental parameters of the task points. If the environmental parameters of the task points less than the preset number meet the preset conditions, the icing condition of the rotor wing of the movable platform can not be monitored.

Optionally, the target task points with the environmental parameters meeting the preset conditions can be determined first, then the statistical time length is determined to exceed the preset time length threshold according to the task time length corresponding to each target task point, and then the monitoring frequency is determined based on the environmental parameters of the task points. If the statistical duration does not exceed the duration threshold, the icing condition of the rotor of the movable platform may not be monitored.

It can be seen that in this embodiment, the monitoring frequency is adaptively adjusted by using the environmental parameters of the movable platform, and the monitoring frequency is increased for the environment that easily causes icing of the rotor wing of the movable platform, so that icing condition can be found in time; the monitoring frequency is reduced for the environment which is not easy to cause the icing of the rotor wing of the movable platform, so that unnecessary resource expenditure is saved, and the precise safety guarantee for the movable platform is realized.

On the basis of any of the above embodiments, the antifreeze device mounted in the housing compartment includes a coating device that stores an antifreeze material.

Illustratively, the antifreeze material may include an antifreeze liquid. The specific composition of the antifreeze liquid may be referred to in the related art, which is not limited in this embodiment.

Based on this, the security method of the movable platform provided in this embodiment may include steps 410-430 as shown in fig. 4.

Step 410: controlling a coating device in the accommodating bin to coat the rotor wing of the movable platform with the antifreezing material;

Step 420: controlling the movable platform subjected to the anti-freezing treatment to execute a preset task;

Step 430: and monitoring whether the rotor wing of the movable platform is frozen or not in the process of executing the preset task.

Illustratively, the coating includes one or more of dipping, spraying, and spin coating. The coating device comprises a spray head, and the antifreezing material can be covered on the surface of the movable platform by one or more modes of dipping, spraying and spin coating.

For example, the coating device may be controlled to apply coating within the rotor of the movable platform to avoid affecting other parts of the movable platform.

Taking a rotorcraft as an example, fig. 5 illustrates a perspective view of a hangar 500 of a rotorcraft. The library 500 includes a platform 510, a connection member 520, and a coating device 530.

Wherein, platform 510 is used for bearing the rotor unmanned aerial vehicle. For example, when a rotorcraft lands, it may land to platform 510. The rotorcraft includes a plurality of rotors. A plurality of rotors may be arranged along the circumference of platform 510. The number of rotors includes four.

The connection part 520 is used to connect the coating apparatus 530 with the hangar 500. The coating device 530 is disposed on the connection member 520 and is rotatably disposed with respect to the platform 510. The connecting members 520 may include, but are not limited to, crossbars, side panels, and the like. Fig. 5 shows the connecting member 520 as a side plate as an example. The side panels are disposed about the platform 510. The side plate comprises an inner wall and an outer wall, and the coating device 530 is disposed on the inner wall of the side plate and is rotatably disposed relative to the platform 510.

The coating device 530 includes a discharge port 531, a pipeline 532, and a storage bin 533. The storage bin 533 stores therein an antifreeze material. Antifreezing material is sprayed from the discharge port 531 to the plurality of rotors of the rotary-wing drone via the tubing 532. The outlet 531 is, for example, a nozzle.

Furthermore, the number of coating devices matches, e.g. is equal to, the number of rotors. And a plurality of coating devices are arranged corresponding to the rotor wings. In this way, each coating device can be controlled to respectively coat the corresponding rotor wing with the antifreezing material. For example, when the rotor is determined to be located at the target position corresponding to the coating device, the plurality of coating devices are controlled to spray the antifreeze material to the rotor.

The spray range of the coating device is matched with the rotor range, for example, the spray range is larger than or equal to the rotor range, so that the antifreezing material can be coated on the whole surface of the rotor during spraying.

Alternatively, there may be a one-to-many relationship between the coating device and the rotor. That is, a coating device is arranged to coat a plurality of rotors with the antifreeze material.

In addition, the hangar 500 may further include a base on which the platform 510 is rotatably disposed, such that the platform 510 may rotate. Illustratively, the axis of rotation of the platform 510 may pass through the geometric center of symmetry of the platform 510. For example, if the cross section of the platform 510 is circular, the rotation axis is vertically disposed in the circular cross section of the platform 510 and passes through the center of the circle. As such, rotation of the platform 510 about the axis of rotation may also be referred to as spinning.

In this manner, the coating apparatus 530 is rotatably disposed relative to the platform 510, which may include, for example, the platform 510 rotating on a base such that the platform 510 rotates relative to the coating apparatus 530. Meanwhile, since the platform 510 carries the unmanned rotorcraft, the platform 510 can drive the unmanned rotorcraft to rotate relative to the coating device 530.

Based on this, the controlling the coating device in the accommodating bin to apply the antifreeze material to the rotor of the movable platform in the above step 410 may specifically include:

Step 411: the control platform rotates on the base so that the rotor unmanned aerial vehicle borne by the platform rotates relative to the coating device;

Step 412: and controlling the coating device to spray antifreezing material to the rotor wing.

Optionally, step 412 may specifically include: and controlling the coating device to spray the antifreezing material while controlling the platform to rotate on the base.

For example, the platform 510 may be controlled to rotate on the base at a first angular velocity while the coating device 530 is controlled to continuously spray the anti-freeze material. As such, the plurality of circumferentially arranged rotors may be covered with the anti-icing material as the platform 510 rotates, thereby completing the anti-icing safeguard.

Optionally, step 412 may specifically include: the coating device is controlled to spray the antifreeze material when the rotor is directed towards the coating device during rotation of the platform on the base.

Regarding how to orient the rotor toward the coating device 530, as one example, the platform 510 may include one or more limit assemblies. During rotation of the platform 510, the limit position is reached, which represents the rotor facing the coating device 530.

Alternatively, when the platform 510 reaches the limit position, the rotation may be stopped, waiting for the coating device 530 to spray the anti-freeze material.

For example, if the number of coating devices 530 is less than the number of rotors, the limit locations include a plurality of limit locations, each limit location corresponding to one or more rotors. The platform 510 reaches one of the limit positions and stops rotating the waiting coating device 530 to spray the anti-icing material to the rotor corresponding to the current limit position. When the coating apparatus 530 completes the coating, the platform 510 may continue to rotate to the next limit position for the next rotor coating.

For another example, if the number of coating devices 530 is equal to the number of rotors, the limit position includes one. The platform 510 reaches the limit position and stops rotating to wait for the coating device 530 to spray the anti-freeze material. When the coating device 530 completes the coating, it is determined that all rotors complete the coating.

For example, the number of painting times required for all rotors to finish painting may be determined according to the number relationship between the coating device 530 and the rotors, and the number of painting times may be a preset number. The preset number is at least 1. After the spraying of the preset number is completed, the rotor unmanned aerial vehicle is determined to complete anti-icing protection measures. The rotary-wing drone may then be instructed to perform the preset task.

As to how to determine the rotor orientation of the coating apparatus 530, as another example, the hangar 500 may also be equipped with sensors. The sensor may include an image acquisition device, a photosensor, or the like.

Taking the image capturing device as an example, regarding the setting position of the image capturing device, optionally, the image capturing device is spaced from the coating device 530 by less than a preset distance. The image capturing device may be provided on the connection member 520 or may be provided at another position. It is only necessary that the setting position thereof is spaced apart from the coating device 530 by less than a predetermined distance. Since the image capturing device is disposed in the vicinity of the coating device 530, the image capturing device may capture a first image including the rotary-wing drone as the platform 510 rotates. It may then be determined whether the rotor is facing the coating device 530 based on the first image.

For example, image recognition techniques may be utilized to identify whether the image content of the first image includes a rotor. If so, the rotor is oriented toward the coating device 530. If not, it is determined that the rotor is not facing the coating device 530.

As another example, the rotor surface may include a first preset identification. The first preset identifier may include, but is not limited to, a color identifier, a pattern identifier, a bar code identifier, a text identifier, or the like. The first preset mark can be a two-dimensional plane mark or a three-dimensional mark. In this manner, an image recognition technique may be utilized to determine whether the image content of the first image includes the first preset identification. If so, the rotor is oriented toward the coating device 530. If not, it is determined that the rotor is not facing the coating device 530.

With respect to the setting position of the image capturing device, optionally, the image capturing device may be set on the platform 510, and the view direction of the image capturing device is consistent with the extension direction of the horn where the rotor is located. The number of image acquisition devices may be matched to the number of rotors. And the distance between the image acquisition device and the rotor wing is smaller than a preset distance. The image capture device may capture a second image as the platform 510 rotates. It may then be determined whether the rotor is facing the coating device 530 based on the second image.

For example, it may be determined whether the image content of the second image includes the coating device 530 using an image recognition technique. If so, the rotor is oriented toward the coating device 530. If not, it is determined that the rotor is not facing the coating device 530.

As another example, the surface of the coating apparatus 530 or the surface of the connection member 520 may include a second preset marking. The second preset identifier may include, but is not limited to, a color identifier, a pattern identifier, a bar code identifier, a text identifier, or the like. The second preset mark can be a two-dimensional plane mark or a three-dimensional mark. An image recognition technique may be utilized to determine whether the image content of the second image includes a second preset identification. If so, the rotor is oriented toward the coating device 530. If not, it is determined that the rotor is not facing the coating device 530.

In addition, the image acquisition device may be an image acquisition device carried by a rotorcraft, such as a main camera, a binocular camera, a monocular camera, or the like. In this way, the second image may be collected by using the image collecting device mounted on the rotary-wing unmanned aerial vehicle itself, and whether the rotary-wing faces the coating device 530 may be determined based on the second image.

Further, optionally, after determining that the rotor is facing the coating device 530 based on the first image and/or the second image, the platform 510 may stop rotating and wait for the coating device 530 to spray the anti-icing material. After painting is completed, it may be determined whether the platform 510 needs to continue to rotate to continue painting of the next rotor or to determine that all rotors are finished painting based on the number relationship between the coating device 530 and the rotors. The specific judging process is referred to above and will not be described herein.

Alternatively, platform 510 may be rotated at a second angular velocity prior to determining that the rotor is facing applicator 530. After determining that the rotor is facing the coating device 530 based on the first image and/or the second image, the platform 510 may be rotated at a third angular velocity. The third angular velocity is smaller than the second angular velocity, so that the platform 510 can quickly reach a suitable position for spraying, and simultaneously rotate at a smaller speed in the spraying process, so that uniform spraying is ensured.

In addition, the connection member 520 is also provided with a sliding member. The sliding member is disposed around the platform 510. The coating device 530 is movably disposed on the sliding member. As such, when the coating device 530 slides along the sliding member, the coating device 530 rotates with respect to the platform 510, so that the plurality of rotors arranged along the circumference of the platform 510 can be sprayed with the antifreeze material.

Step 413: the coating device is controlled to slide on the sliding part so that the coating device rotates relative to the unmanned aerial vehicle borne by the platform.

Step 414: and controlling the coating device to spray antifreezing material to the rotor wing.

Optionally, step 412 may specifically include: the coating device is controlled to spray the antifreezing material to the rotor wing while the coating device slides on the sliding part.

I.e., the coating apparatus 530 is controlled to spray the antifreeze while sliding.

Alternatively, the coating device 530 may be controlled to slide on the sliding member at the fourth angular velocity while the coating device 530 is controlled to continuously spray the antifreeze material. In this way, the plurality of wings arranged in the circumferential direction are covered with the anti-icing material along with the sliding and spraying of the coating device 530, thereby completing the anti-icing protection measure.

Optionally, step 412 may specifically include: and in the process of controlling the coating device to slide on the sliding part, when the rotor wing faces the coating device, the coating device is controlled to spray antifreezing material to the rotor wing.

The process of determining how to orient the rotor toward the coating device 530 may be specifically referred to above and will not be described in detail herein.

In addition, the coating device sprays antifreezing materials to the rotor wing, and simultaneously, the rotor wing can be controlled to rotate.

As an example, the coating device 530 is controlled to spray antifreeze material and the rotor is controlled to rotate while the coating device 530 and the platform 510 are relatively rotated. Namely, the relative rotation, spraying and rotor rotation are performed simultaneously.

As an example, the coating device 530 includes a plurality of coating devices, and the plurality of coating devices 530 are provided corresponding to the plurality of rotors. When it is determined that the rotor is located at the target position corresponding to the coating device 530, the plurality of coating devices 530 are controlled to spray the antifreeze material while controlling the rotation of the rotor.

As an example, during relative rotation between the coating device 530 and the platform 510, the coating device 530 is controlled to spray antifreeze material while the rotor is controlled to rotate as the rotor is directed toward the coating device 530.

As an example, the rotor is controlled to rotate while the coating apparatus 530 and the platform 510 are rotating relative to each other. The coating device 530 is controlled to spray the anti-icing material when the rotor is facing the coating device 530.

In addition, the rotor may be controlled to rotate at a first rotational speed to change the rotor from a folded state to an unfolded state before the coating device 530 is controlled to spray the anti-icing material. And after the rotor wing is determined to be in the unfolding state, controlling the rotor wing to rotate at a second rotating speed. Wherein the first rotational speed is greater than the second rotational speed. For example, the first rotational speed may be 5 revolutions per second, 10 revolutions per second, etc. The second rotational speed may be half a revolution per second.

Because the first rotational speed is greater, the folded rotor can be "thrown" open when rotated at a greater rotational speed, changing from a folded state to an unfolded state. Specifically, a limiting component can be arranged on the rotor wing, and when the triggering of the limiting component is detected, the rotor wing is determined to be in a unfolding state. Then, the rotation speed of the rotor is adjusted down to a second rotation speed. And the rotor rotates at a slower rotating speed, so that the antifreezing material is uniformly coated on the surface of the rotor.

In addition, the coating device 530 includes a first discharge port and/or a second discharge port. When the platform 510 carries the unmanned aerial vehicle, the discharging direction of the first discharging port faces the first surface of the wing; the discharging direction of the second discharging hole faces the second surface of the wing.

Illustratively, the first outfeed port is higher than the platform 510, is a first height from the platform 510, and is directed toward the first surface of the airfoil; the second discharging hole is higher than the platform 510, is at a third height from the platform 510, and is in a discharging direction along the second surface of the wing; rotor is at a second height from platform 510, and the first height is greater than the second height, and the second height is greater than the third height. Thus, the antifreezing material sprayed from the first discharge port can be coated on the upper surface of the rotor wing; the antifreeze sprayed from the second outlet is applied to the lower surface of the rotor.

Alternatively, the first ports may include a plurality of first ports that may be arranged radially and/or circumferentially of the platform 510.

Optionally, the second ports may include a plurality of second ports that may be arranged radially and/or circumferentially along the platform 510.

Optionally, the first discharge port and the second discharge port can be simultaneously controlled to spray the antifreezing material, so that the upper surface and the lower surface of the rotor wing are coated with the antifreezing material.

Optionally, the first discharge port or the second discharge port can be controlled to spray the antifreeze material as required, so that the upper surface or the lower surface of the rotor wing is coated with the antifreeze material.

Further, the coating device includes a plurality, and the plurality of coating devices are disposed along the longitudinal direction of the stage 510. Therefore, the technical effect of uniformly coating the antifreezing material on the whole surface of the wing can be realized, and the anti-icing effect is further improved.

Alternatively, in order to achieve uniform coating of both the upper and lower sides of the rotor, a coating device may be provided for each of the upper and lower sides of the rotor. For example, 2N coating devices are provided for N rotors of the movable platform. For another example, 2 coating devices may be provided, and each rotor is controlled to be aligned with the 2 coating devices in sequence by rotation of the rotatable platform, so that the upper and lower surfaces of the N rotors are coated with the antifreeze material.

For example, after the coating device completes a predefined coating action, all rotors may be considered to have completed the coating of the antifreeze material. Of course, it is also possible to determine whether all rotors have been coated with the antifreeze material by other methods. For example, it may be determined whether the coating is completed by monitoring the weight difference of the movable platform before and after the coating.

Therefore, in the embodiment, the rotor wing of the movable platform is coated with the anti-freezing material, so that the rotor wing can be prevented from icing in a low-temperature high-humidity environment to a certain extent, damage to a power system of the movable platform due to icing is avoided, and the operation safety of the movable platform is guaranteed.

Fig. 6 shows a schematic architecture diagram of a mobile platform 600, the mobile platform 600 being equipped with a communicatively connected control system 610 and power system 620. Wherein the control system 610 includes a controller 611. Of course, the control system 610 may also include other components required to achieve control, such as a sensing system, and the like. In unmanned aerial vehicles, control system 610 is also referred to as a flight control system. The controller 611 is also called a flight controller (for short, flight control) and is responsible for controlling, navigating and stabilizing the flight attitude of the unmanned aerial vehicle.

Power system 620 may include electronic speed regulators (referred to simply as electric regulators) 621, motors 622, and rotors 623. Wherein the rotor 623 may include one or more. For example, in an unmanned aerial vehicle, the rotor 623 may include four. The number of motors 622 corresponds to the number of rotors 623. The electronic governor 621 may include one or more. For example, one electronic governor 621 may correspond to one or more motors 622.

The electronic governor 621 is configured to receive a driving signal generated by the control system 610 and provide a driving current to the motor 622 according to the driving signal, so as to control the rotation speed of the motor 622. The motor 622 is used to drive rotation of the rotor 623 to power movement of the movable platform 600, which may enable movement of the movable platform 600 in one or more degrees of freedom.

Based on the movable platform as shown in fig. 6, the torque coefficient of the rotor is independent of the working state of the movable platform. That is, no matter what mode the movable platform is operated in, the torque coefficient of the rotor is not changed to be constant when the movable platform moves or hovers at high speed. Moreover, the torque coefficient of the rotor is related to the shape and mass of the rotor. It is known that the shape of the rotor of the movable platform is substantially impossible to change during daily operations, but the mass of the rotor increases due to icing. That is, during operation of the mobile platform, the torque coefficient of the rotor is only affected by the rotor mass, which is changed by icing the rotor. Therefore, when the movable platform operates, whether the rotor wing is frozen or not can be effectively and timely found by monitoring the torque coefficient of the rotor wing.

As such, in some embodiments, step 430 of monitoring whether the rotor of the mobile platform is frozen may include, in particular, steps 710-730 as shown in fig. 7.

Step 710: real-time torque of the rotor is determined based on the input current of the motor and an idle parameter. Wherein the idle load parameter is used for indicating a state of the motor when the motor is in idle running.

Illustratively, the electromagnetic torque Te of the motor may include two parts: idle torque T0 and rotor torque M. The electromagnetic torque Te is the torque generated by the motor under the input current I ₁, and is in a direct proportional relation with the input current I ₁. The no-load torque T ₀ refers to the corresponding torque when the motor runs in no-load, and can be obtained through calculation of no-load parameters of the motor. The no-load parameter is a calibration parameter obtained when the motor leaves the factory. Therefore, based on the input current I ₁ of the motor and the no-load parameter of the motor, the real-time torque M of the rotor can be obtained. Wherein the real-time torque M is positively correlated with the input current I ₁ of the motor.

Step 720: and determining a real-time torque coefficient of the rotor based on the dimension parameter of the rotor, the real-time torque and the real-time rotating speed of the motor.

Illustratively, the dimensional parameter includes a diameter d of the rotor, which refers to the diameter of a circle drawn by the tip of the rotor as the rotor rotates. The dimensional parameters of the rotor are calibrated parameters obtained when the rotor or the mobile platform leaves the factory.

Alternatively, the real-time rotational speed N of the motor may be obtained by an electronic governor electrically connected to the motor.

Illustratively, the real-time torque coefficient C of the rotor is positively correlated with the real-time torque M of the rotor, negatively correlated with the square N ² of the real-time rotational speed of the motor, and negatively correlated with the 5th power d ⁵ of the diameter of the rotor. Specifically, the relationship between the live torque coefficient C and the live torque M, the live rotation speed N, and the diameter d can be expressed as:

wherein the real-time torque coefficient C is a dimensionless torque coefficient.

Step 730: monitoring whether the rotor is frozen based on the live torque coefficient and the non-icing torque coefficient.

For example, the non-icing torque factor may be obtained by calibration when the rotor is not icing. The calibration can be a pre-calibration or a real-time calibration. By comparing the real-time torque coefficient with the non-icing torque coefficient, whether the rotor wing of the movable platform is iced or not can be judged.

It can be known that, because in the operation process of the movable platform, the torque coefficient of the rotor wing can be affected by whether the rotor wing is frozen or not, whether the rotor wing is frozen or not can be monitored in real time by comparing the monitored real-time torque coefficient with the non-frozen torque coefficient, so that corresponding measures can be taken in time, and the potential safety hazard of the movable platform running in the frozen state of the rotor wing can be reduced.

In some embodiments, the input current to the motor may be calculated based on the input power of the electronic governor being equal to the output power. Based on this, the icing monitoring method may further include the steps of:

determining an output current of the electronic governor based on an input voltage, an input current, and an output voltage of the electronic governor; the output current is an input current of the motor.

The electronic governor has a data feedback function, so that the electronic governor can send its own input voltage U ₂, input current I ₂, and output voltage U ₁ to the controller. As such, the relationship between the input current I ₁ of the motor and the input voltage U ₂, the input current I ₂, and the output voltage U ₁ can be expressed as:

Regarding the no-load parameters in step 710, in some embodiments, the no-load parameters include at least: nominal no-load voltage U ₀, nominal no-load current I ₀, internal resistance R of the motor, and motor KV.

The nominal no-load voltage U ₀ and the nominal no-load current I ₀ refer to the voltage value and the current value when the motor is in an idle operation, respectively. The motor KV value refers to the rotation speed of the motor at each volt voltage when the motor is in idle load, and the unit is Rotations Per Minute (RPM) per volt (V).

Based on this, the following relationship is satisfied between the real-time torque M of the rotor, the input current I ₁ of the motor, and the no-load parameter:

In this way, the real-time torque M of the rotor can be determined given the input current I ₁ of the motor and the idle parameter.

In addition, the real-time torque of the rotor is also affected by the air density. That is, the greater the air density, the greater the resistance of the air to the rotation of the rotor, and correspondingly, the greater the real-time torque of the rotor.

In some scenarios, the mobile platform may operate in different atmospheric environments. Taking the unmanned aerial vehicle as an example, when the unmanned aerial vehicle performs a task at high altitude, the air density at high altitude is different from the air density at the ground. At this time, the influence of the environment on icing monitoring needs to be considered.

For example, when the unmanned aerial vehicle works at high altitude, since the high altitude air density is smaller than the air density of the ground, the monitoring value of the real-time torque of the rotor at high altitude is smaller than the monitoring value at the ground under the condition that the rotor is not frozen, and then the real-time torque coefficient of the rotor is reduced. At this time, even if the rotor of the unmanned aerial vehicle is frozen in the high air, the real-time torque and the real-time torque coefficient are increased, it may not be possible to find that the rotor is frozen by comparing with the non-frozen torque coefficient. It is therefore necessary to modify the real-time torque coefficient of the rotor so that the modified real-time torque coefficient is inversely related to the air density. That is, when the air density is reduced, the corrected real-time torque coefficient is increased, so that the difference caused by the reduction of the real-time torque due to the reduction of the air density is compensated.

In some embodiments, the correction may be performed using environmental data, and the real-time torque coefficient of the rotor is obtained after the correction of the environmental data. Wherein the environmental data is used to characterize the environment in which the mobile platform is located. The environmental data includes at least: altitude and ambient temperature. Wherein the altitude h can be measured by a barometer on the movable platform; the ambient temperature t may be measured by a temperature sensor on the movable platform.

Illustratively, the real-time torque coefficient C of the rotor is inversely related to the air density ρ. Specifically, the relationship between the live torque coefficient C and the live torque M, the air density ρ, the live rotation speed N, and the diameter d can be expressed as:

(equation 1)

Where the air density ρ is a function of altitude h and ambient temperature t, which can be expressed as:

(equation 2)

Wherein, the unit of the temperature t is degrees centigrade, and ρ ₀ is standard atmospheric density.

Thus, after obtaining the dimension parameter, the real-time torque, the real-time rotation speed of the motor and the environmental data of the rotor, the real-time torque coefficient of the rotor can be determined based on the above formula 1 and the formula 2.

In some embodiments, the live torque coefficients may be obtained after a filtering process. Alternatively, the filtering process may be a first order filtering process. For specific processing procedures of the first-order filtering, see the related art, and this embodiment is not developed here.

In some embodiments, the calibration process of the non-icing torque factor may include the steps of:

When a rotor wing of the movable platform is not frozen and the movable platform runs, determining the working torque of the rotor wing based on the input current and the idle load parameters of a motor; determining an iceless torque coefficient of the rotor based on the dimensional parameter of the rotor, the operating torque, and the operating rotational speed of the motor.

The calibration process is similar to the execution process of steps 710-720 in the above embodiment, and the description of this embodiment is omitted here.

In some embodiments, step 730 monitors whether the rotor is frozen based on the real-time torque coefficient and the non-icing torque coefficient, and may specifically include steps 731-733.

Step 731: and acquiring the ratio of the real-time torque coefficient to the non-ice-formation torque coefficient.

For example, the ratio of the live torque coefficient C to the non-icing torque coefficient C ₀ may be determined to be C/C ₀.

Step 732: and if the ratio is greater than a preset ratio threshold, determining that the rotor wing is frozen.

Illustratively, the ratio threshold may be obtained through a rotor icing test. If the ratio C/C ₀ is greater than the ratio threshold, this indicates that the real-time torque coefficient of the rotor is greater at this time, and therefore it can be determined that the rotor is icing.

Step 733: and if the ratio is smaller than or equal to the ratio threshold, determining that the rotor wing is not frozen.

Otherwise, if the ratio C/C ₀ is less than or equal to the ratio threshold, this indicates that the real-time torque coefficient of the rotor is small at this time, so it can be determined that the rotor is not frozen.

Of course, besides the above-mentioned judging method, it is also possible to judge whether the rotor is frozen or not by comparing the difference between the real-time torque coefficient and the non-frozen torque coefficient with a preset difference threshold.

In addition to the embodiment of fig. 7 for monitoring whether the rotor of the movable platform is frozen, other methods may be selected to monitor the icing condition of the rotor according to the actual situation, and the present application is not limited to the above method.

Based on any of the above embodiments, the protection method may further include the steps of:

Optionally, if it is determined that the duration of icing exceeds a preset time threshold, generating alarm information of rotor icing.

It can be known that, in this embodiment, by monitoring the icing condition of the rotor wing of the movable platform and generating corresponding alarm information, the potential safety hazard of the operation of the movable platform in the icing condition is reduced.

Optionally, after the movable platform freezes and generates the alarm information, the movable platform can be controlled to return to the accommodating bin based on the alarm information.

Optionally, when it is determined that the movable platform needs to return to the accommodating bin according to the icing condition of the movable platform, the returned target accommodating bin may be determined according to the current electric quantity of the movable platform.

For example, if the current electric quantity is greater than or equal to a preset electric quantity threshold value, determining that the returned target accommodating bin is the accommodating bin where the movable platform is located before operation.

For example, if the current power is less than the power threshold, determining that the returned target storage bin is the storage bin closest to the current position of the movable platform.

It can be known that in the embodiment, by monitoring the icing condition of the movable platform, the movable platform is controlled to return to the accommodating bin in the process of executing the preset task, so that the operation safety of the movable platform is greatly improved and ensured.

In addition, the application further provides a protection method of the unmanned aerial vehicle rotor wing. The unmanned aerial vehicle corresponds to the hangar, the hangar is used for accomodating unmanned aerial vehicle and provides services such as trade the electricity, trade storehouse, wash for unmanned aerial vehicle. In addition, spray device is still carried to the hangar, spray device stores antifreeze, spray device includes the shower nozzle. The specific implementation process of the protection method is as follows:

And acquiring environmental parameters of the environment where the unmanned aerial vehicle is located, including the environmental temperature and the environmental humidity. The environmental parameters can be acquired through meteorological data and/or through meteorological sensors carried by a hangar.

And judging whether the environmental parameters meet preset conditions. Wherein the preset condition comprises that the ambient humidity is greater than a humidity threshold and/or the ambient temperature is lower than a temperature threshold.

And under the condition that the environmental parameters are determined to meet the preset conditions, controlling a spraying device in the hangar to spray the anti-freezing liquid to the unmanned aerial vehicle. Alternatively, the spraying device can be controlled to spray antifreeze liquid to four rotors of the unmanned aerial vehicle.

After the spraying device completes the predefined action, it may be determined that the rotor has completed spraying. And then controlling the unmanned aerial vehicle to take off and executing a preset task. In the task execution process, whether the rotor wing is frozen or not can be monitored in real time. Alternatively, the monitoring frequency may be determined based on environmental parameters.

As one of the rotor icing monitoring methods, the real-time torque M of the rotor may be calculated based on the input current I ₁ and a pre-stored no-load constant. Wherein the no-load constant comprises a first no-load constant a and a second no-load constant b, and the no-load constant is determined based on no-load parameters of the motor. The no-load parameters comprise a nominal no-load voltage U ₀, a nominal no-load current I ₀, a motor internal resistance R and a motor KV value.

Then, the current altitude h of the unmanned aerial vehicle is determined based on the barometer carried by the unmanned aerial vehicle, and the temperature t of the environment in which the unmanned aerial vehicle is located is determined based on the temperature sensor carried by the unmanned aerial vehicle.

And calculating a real-time torque coefficient C of the rotor based on the diameter d of the rotor, the real-time rotating speed N of the motor fed back by the electronic speed regulator, the real-time torque M of the rotor and the environmental parameter, and performing first-order filtering on the real-time torque coefficient C of the rotor. Wherein the environmental parameters include the altitude h and the temperature t. Specifically, the relationship between the real-time torque coefficient C of the rotor, the diameter d of the rotor, the real-time rotational speed N of the motor, the real-time torque M of the rotor and the environmental parameter can be seen from the above equations 1 and 2.

After obtaining the first order filtered live torque coefficient C, a ratio C/C ₀ between the live torque coefficient C and the non-icing torque coefficient C ₀ is determined. If the ratio C/C ₀ is larger than the ratio threshold, determining that the rotor wing of the unmanned aerial vehicle is frozen; if the ratio C/C ₀ is less than or equal to the ratio threshold, determining that the rotor wing of the unmanned aerial vehicle is not frozen.

Under the condition that the rotor wing is determined to be frozen, if the duration time of the rotor wing freezing exceeds a preset time threshold value, warning information of the rotor wing freezing is generated, and the flight potential safety hazard of the unmanned aerial vehicle in the rotor wing freezing state is reduced.

In addition, the unmanned aerial vehicle is controlled to carry out emergency return according to the alarm information. Optionally, in the course of returning, if the current electric quantity of the unmanned aerial vehicle is smaller than the electric quantity threshold value, controlling the unmanned aerial vehicle to drop to a hangar nearest to the unmanned aerial vehicle; and if the current electric quantity is greater than or equal to the electric quantity threshold value, controlling the unmanned aerial vehicle to return to a corresponding hangar during take-off.

It can be known that, this embodiment carries out icing prevention and control measure before unmanned aerial vehicle flies, has reduced rotor icing risk. Meanwhile, the icing condition of the rotor wing is monitored in the flight process, so that the safety of flight operation is greatly improved and guaranteed.

The application also provides a computer program product comprising one or more computer programs or instructions based on the method for protecting a rotor of a movable platform according to any of the above embodiments. The computer program or instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. The computer program, when executed by a processor, implements a method for protecting a rotor of a movable platform according to any of the above embodiments.

Based on the protection method of the rotor wing of the movable platform in any embodiment, the application further provides a schematic structural diagram of the electronic device shown in fig. 8. At the hardware level, as in fig. 7, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile storage, although it may include hardware required for other services. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to realize the protection method of the rotor wing of the movable platform according to any embodiment.

The application also provides a computer storage medium, wherein the storage medium stores a computer program, and the computer program can be used for executing the protection method of the movable platform rotor wing in any embodiment when being executed by a processor.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims

1. The protection method of the rotor wing of the movable platform is characterized in that the movable platform is provided with a containing bin correspondingly, and the containing bin is used for containing the movable platform; the method comprises the following steps:

2. The method of claim 1, further comprising, prior to said controlling the antifreeze in the containment bin to antifreeze the movable platform:

3. The method of claim 1, wherein the monitoring icing conditions of the movable platform rotor comprises:

4. A method according to any one of claims 1-3, characterized in that the anti-freeze device comprises a coating device; the coating device stores an antifreezing material; the controlling the anti-freezing device in the accommodating bin to perform anti-freezing treatment on the movable platform comprises the following steps:

5. The method of claim 1, wherein the movable platform carries a motor for driving the rotor; the monitoring of icing conditions of the movable platform rotor comprises:

6. The method according to claim 1, wherein the method further comprises:

7. The method according to claim 1, wherein the method further comprises:

8. The method of claim 1, wherein the movable platform comprises a rotorcraft; the accommodating bin comprises a hangar for accommodating the unmanned aerial vehicle.

9. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the method of any of claims 1-8.

10. An electronic device, the electronic device comprising:

A processor;

a memory for storing processor-executable instructions;

wherein the processor, when invoking the executable instructions, performs the operations of the method of any of claims 1-8.