# US 2019/0315465 A1 · Unmanned vehicle, control system and method thereof, and electronic speed control and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0315465 A1 - Document ID: US20190315465A1 - Status: Published application - Kind: A1 - Application number: 16/456,722 - Filed: 2019-06-28 - Published: 2019-10-17 - Earliest claimed: 2016-12-28 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Wangqi LIU; Qiu LAN; Changxing ZHOU - Web page: https://patentgrep.com/patent/US20190315465A1 ## CPC - B64U 50/19: using electrically powered motors - B64D 45/00: Aircraft indicators or protectors not otherwise provided for - B64U 10/13: Flying platforms - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/0016: {characterised by the operator's input device (input arrangements for computing systems in general G06F3/00)} - G05D 1/102: {specially adapted for vertical take-off of aircraft} - G06F 13/4068: {Electrical coupling} - B64D 2045/0085: {Devices for aircraft health monitoring, e.g. monitoring flutter or vibration} - B64U 2101/30: for imaging, photography or videography - B64U 2201/00: UAVs characterised by their flight controls - B64U 2201/20: Remote controls - Y02T 50/60: Efficient propulsion technologies, e.g. for aircraft - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A control system includes a control device, a plurality of electronic speed controls (ESCs) communicating and sharing status information with each other, and a plurality of motors each coupled to one of the plurality of ESCs. The control device can generate a control signal based on control instructions received by a transceiver. Each of the plurality of ESCs can generate a driving signal based on the control instructions. The plurality of motors can be driven by the driving signal generated by the one of the plurality of ESCs. ## Claims ### Claim 1 A control system comprising: a control device configured to generate a control signal based on control instructions received by a transceiver; a plurality of electronic speed controls (ESCs) communicating and sharing status information with each other, each of the plurality of ESCs being configured to generate a driving signal based on the control instructions; and a plurality of motors each coupled to one of the plurality of ESCs and driven by the driving signal generated by the one of the plurality of ESCs. ### Claim 2 (depends on 1) The control system according to claim 1, wherein the status information of one of the plurality of ESCs includes whether the one of the plurality of ESCs is operating abnormally. ### Claim 3 (depends on 1) The control system according to claim 1, wherein each of the plurality of ESCs includes a status port configured to share the status information of the each of the plurality of ESCs. ### Claim 4 (depends on 3) The control system according to claim 3, wherein the status ports of the plurality of ESCs are connected to each other for sharing the status information among the plurality of ESCs. ### Claim 5 (depends on 4) The control system according to claim 4, wherein the plurality of ESCs are configured to stop operating in response to one of the plurality of ESCs being operating abnormally. ### Claim 6 (depends on 3) The control system according to claim 3, wherein: the status port of each of the plurality of ESCs is communicatively connected to the control device; and the plurality of ESCs are configured to share the status information among each other through communicating with the control device. ### Claim 7 (depends on 6) The control system according to claim 6, wherein the control device is configured to obtain the status information of the plurality of ESCs and output the control signal through the status ports of the plurality of ESCs. ### Claim 8 (depends on 6) The control system according to claim 6, wherein the control device is configured to control the plurality of ESCs to stop operating in response to one of the plurality of ESCs is operating abnormally. ### Claim 9 (depends on 8) The control system according to claim 8, wherein the one of the plurality of ESCs operating abnormally includes at least one of a hardware failure of the one of the plurality of ESCs, an abnormality of the motor coupled to the one of the plurality of ESCs, stalling, or no-load. ### Claim 10 (depends on 3) The control system according to claim 3, wherein: the status port of one of the plurality of ESCs includes a first communication port and a second communication port; the one of the plurality of ESCs is configured to share the status information with other ones of the plurality of ESCs through the first communication port; and the control device is configured to obtain the status information of the one of the plurality of ESCs through the second communication port. ### Claim 11 (depends on 10) The control system according to claim 10, wherein the first communication port and second communication port are configured independently. ### Claim 12 (depends on 10) The control system according to claim 10, wherein the first communication port and the second communication port are serial bus ports. ### Claim 13 (depends on 1) The control system according to claim 1, wherein the control device is communicatively connected to the plurality of ESCs and is configured to obtain the status information of the plurality of ESCs and information of the plurality of motors. ### Claim 14 (depends on 13) The control system according to claim 13, wherein the information of the plurality of motors includes at least one of physical properties of the plurality of motors or information detected by sensors of the plurality of motors. ### Claim 15 (depends on 13) The control system according to claim 13, wherein the control device is communicatively connected to the plurality of ESCs through a wired or wireless connection. ### Claim 16 A control method comprising: generating, by a control device, a control signal based on control instructions received by a transceiver; transmitting, by the control device, the control signal to one or more of a plurality of electronic speed controls (ESCs); determining, by the control device, whether the plurality of ESCs are operating abnormally based on status information of the plurality of ESCs; and controlling, by the control device, the plurality of ESCs to stop operating in response to detecting that at least one of the plurality of the ESCs is operating abnormally. ### Claim 17 (depends on 16) The control method according to claim 16, further comprising: obtaining, through the plurality of ESCs, information of a plurality of motors each connected to one of the plurality of ESCs; and determining, in response to determining that the plurality of ESCs are operating normally, whether a security risk exists based on the status information of the plurality of ESCs and the information of the plurality of motors. ### Claim 18 (depends on 17) The control method according to claim 17, wherein: the status information of the plurality of ESCs includes physical properties of the plurality of ESCs; the information of the plurality of motors includes physical properties of the plurality of motors; and determining whether the security risk exists includes determining that the security risk exists in response to detecting that any one of the physical properties of the plurality of ESCs and the plurality of motors reaches a predetermined limit value. ### Claim 19 (depends on 18) The control method according to claim 18, wherein the physical properties of the plurality of ESCs and the physical properties of the plurality of motors include at least one of temperature, electric current, voltage, or power. ### Claim 20 (depends on 16) The control method according to claim 16, wherein determining whether the plurality of ESCs are operating abnormally includes determining whether at least one of hardware failure of the plurality of ESCs, an abnormality of the plurality of motors, stalling, or no-load occurs.