Method for processing throttle control signal, electronic speed regulator, controller, and mobile platform

Abstract

A throttle control signal processing method includes receiving, by an electronic speed regulator from a controller, a first throttle control signal via a throttle signal interface and a second throttle control signal via a communication interface simultaneously and separately in parallel. The method further includes monitoring, in a real time, a signal transmission state of the throttle signal interface. The method also includes controlling, in response to determining that the signal transmission state of the throttle signal interface is abnormal, rotation of a motor according to the second throttle control signal.

1 . A throttle control signal processing method comprising:
 receiving, by an electronic speed regulator from a controller, a first throttle control signal via a throttle signal interface and a second throttle control signal via a communication interface simultaneously and separately in parallel;   monitoring, in a real time, a signal transmission state of the throttle signal interface; and   controlling, in response to determining that the signal transmission state of the throttle signal interface is abnormal, rotation of a motor according to the second throttle control signal.   
     
     
         2 . The method according to  claim 1 , wherein monitoring the transmission state of the throttle signal interface includes:
 comparing first throttle control information corresponding to the first throttle control signal with second throttle control information corresponding to the second throttle control signal; and   determining, in response to the first throttle control information being different from the second throttle control information, that the signal transmission state of the throttle signal interface is abnormal.   
     
     
         3 . The method according to  claim 2 , wherein a type of the first throttle control information is same as a type of the second throttle control information and includes one of throttle control frequency and throttle control pulse width. 
     
     
         4 . The method according to  claim 1 , further comprising:
 determining that the signal transmission state of the throttle signal interface is abnormal in response to:
 determining that no first throttle control signal is received via the throttle signal interface; or 
 determining that the first throttle control signal received via the throttle signal interface is abnormal. 
   
     
     
         5 . The method according to  claim 4 , wherein determining that the first throttle control signal is abnormal includes determining that characteristic information of the first throttle control signal meets a predefined condition. 
     
     
         6 . The method according to  claim 5 , wherein determining that the characteristic information meets the predefined condition includes determining that at least one of a frequency or a pulse width of the first throttle control signal meets the predefined condition. 
     
     
         7 . The method according to  claim 1 , further comprising:
 transmitting a throttle control signal transmission fault message via the communication interface in response to determining that the signal transmission state of the throttle signal interface is abnormal.   
     
     
         8 . The method according to  claim 1 , further comprising:
 receiving, from the controller and via the communication interface, data for the electronic speed regulator to implement firmware upgrade or parameter modification; or   transmitting, to the controller via the communication interface, operation data of an operation state of the motor or an operation state of the electronic speed regulator.   
     
     
         9 . The method according to  claim 1 , wherein:
 a signal format of the first throttle control signal includes one of analog signal format and a digital signal format; and   a signal format of the second throttle control signal includes another one of the analog signal format and the digital signal format.   
     
     
         10 . The method according to  claim 1 , further comprising:
 controlling the rotation of the motor according to the first throttle control signal in response to that the signal transmission state of the throttle signal interface returns to normal.   
     
     
         11 . An electronic speed regulator comprising:
 a throttle signal interface configured to receive a first throttle control signal from a controller;   a communication interface configured to receive a second throttle control signal from the controller, the second throttle control signal and the first throttle control signal being received by the electronic speed regulator simultaneously and separately in parallel;   a monitoring circuit configured to monitor, in real time, a signal transmission state of the throttle signal interface; and   a processor configured to control, in response to determining that the signal transmission state of the throttle signal interface is abnormal, rotation of a motor according to the second throttle control signal.   
     
     
         12 . The electronic speed regulator according to  claim 11 , wherein the processor, the monitoring circuit, the throttle signal interface, and the communication interface are integrated together. 
     
     
         13 . The electronic speed regulator according to  claim 11 , wherein the processor, the monitoring circuit, the throttle signal interface, and the communication interface are provided separately. 
     
     
         14 . The electronic speed regulator according to  claim 11 , wherein the processor is configured to:
 compare first throttle control information corresponding to the first throttle control signal with second throttle control information corresponding to the second throttle control signal; and   determine, in response to the first throttle control information being different from the second throttle control information, that the signal transmission state of the throttle signal interface is abnormal.   
     
     
         15 . The electronic speed regulator according to  claim 14 , wherein a type of the first throttle control information is same as a type of the second throttle control information and includes one of throttle control frequency and throttle control pulse width. 
     
     
         16 . The electronic speed regulator according to  claim 11 , wherein the processor is further configured to determine that the signal transmission state of the throttle signal interface is abnormal in response to:
 determining that no first throttle control signal is received via the throttle signal interface; or   determining that the first throttle control signal received via the throttle signal interface is abnormal.   
     
     
         17 . The electronic speed regulator according to  claim 16 , wherein determining that the first throttle control signal is abnormal includes determining that characteristic information of the first throttle control signal meets a predefined condition. 
     
     
         18 . The electronic speed regulator according to  claim 11 , wherein the communication interface is further configured to:
 receive, from the controller, data for the electronic speed regulator to implement firmware upgrade or parameter modification; or   transmit, to the controller, operation data of an operation state of the motor or an operation state of the electronic speed regulator.   
     
     
         19 . A mobile platform compromising:
 a motor;   a controller;   an electronic speed regulator coupled to the motor and communicating with the controller;   a throttle channel between the controller and the electronic speed regulator for transmitting a first throttle control signal from the controller to the electronic speed regulator;   a communication channel between the controller and the electronic speed regulator for transmitting a second throttle control signal from the controller to the electronic speed regulator, the second throttle control signal and the first throttle control signal being sent by the controller to the electronic speed regulator simultaneously and separately in parallel,   wherein the electronic speed regulator is configured to:
 monitor, in real time, a signal transmission state of the throttle channel; and 
 control, in response to determining that the signal transmission state of the throttle channel is abnormal, rotation of the motor according to the second throttle control signal. 
   
     
     
         20 . The mobile platform according to  claim 19 , wherein the electronic speed regulator is further configured to:
 compare first throttle control information corresponding to the first throttle control signal with second throttle control information corresponding to the second throttle control signal; and   determining, in response to the first throttle control information being different from the second throttle control information, that the signal transmission state of the throttle signal interface is abnormal.