Multi-copter aircraft and control methods, apparatuses, and storage media therefor

Abstract

The application discloses a multi-rotor aircraft, a control method, equipment and a storage medium thereof. The method comprises the following steps: acquiring the output power of the driving motor of each rotor; determining the difference between the maximum value and the minimum value of each output power; if the difference is greater than a preset threshold, determining the target rotor which needs to be adjusted and the adjustment parameter corresponding to the target rotor; and controlling the target rotor to be adjusted according to the determined adjustment parameter. The application improves the problem that the cost of the rotor driving motor is relatively high.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a multi-rotor aircraft and its control method, device and storage medium. Background Technology

[0002] Multirotor aircraft achieve flight attitude control by adjusting the speed of multiple motors to change the propeller speed, thereby altering lift. When the aircraft is under a certain load and the center of gravity of the load is far from the aircraft's center of gravity, the overall center of gravity of the aircraft will shift; or, when the aircraft is in high-speed forward flight, it will experience forward drag. In these situations, to maintain the overall force balance of the aircraft, different rotors need to provide different amounts of thrust. Considering the overall maneuverability of the aircraft, the selection of rotor drive motors must meet the needs of the rotor with the highest thrust requirement. This often leads to over-design of drive motors for rotors with relatively lower thrust requirements, increasing the cost of the rotor drive motors. Summary of the Invention

[0003] The main objective of this invention is to provide a multi-rotor aircraft and its control method, device and storage medium, aiming to improve the problem of high cost of rotor drive motors.

[0004] To achieve the above objectives, the present invention provides a multi-rotor aircraft control method, which includes the following steps:

[0005] Obtain the output power of the drive motors for each rotor;

[0006] Determine the difference between the maximum and minimum values ​​of each output power;

[0007] If the difference is greater than a preset threshold, then the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor are determined.

[0008] The target rotor is controlled to adjust according to the determined adjustment parameters.

[0009] Optionally, after the step of controlling the target rotor to adjust according to the determined adjustment parameters, the method further includes:

[0010] Redetermine the difference between the maximum and minimum values ​​of each output power;

[0011] When the difference is greater than a preset threshold, the step of determining the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor is executed.

[0012] When the difference is less than or equal to a preset threshold, the rotor adjustment ends.

[0013] Optionally, the step of determining the target rotor that needs adjustment and the corresponding adjustment parameters of the target rotor if the difference is greater than a preset threshold includes:

[0014] If the difference is greater than a preset threshold, then the rotor corresponding to the drive motor with the highest output power is determined as the target rotor;

[0015] Determining the adjustment parameters includes increasing the arm length corresponding to the target rotor and / or adjusting the arm angle corresponding to the target rotor to reduce the angle between the target rotor and other rotors.

[0016] Optionally, the step of determining the target rotor that needs adjustment and the corresponding adjustment parameters of the target rotor if the difference is greater than a preset threshold includes:

[0017] If the difference is greater than a preset threshold, the rotor corresponding to the drive motor with the lowest output power is determined as the target rotor.

[0018] Determining the adjustment parameters includes reducing the arm length corresponding to the target rotor and / or adjusting the arm angle corresponding to the target rotor to increase the angle between the target rotor and other rotors.

[0019] Optionally, the step of adjusting the control rotor according to the determined adjustment parameters includes:

[0020] The arm length corresponding to the target rotor is adjusted relative to the aircraft body according to the adjustment parameters; and / or...

[0021] The arm corresponding to the target rotor is controlled to rotate to the adjusted angle according to the adjustment parameters.

[0022] Optionally, the step of determining the target rotor that needs adjustment and the corresponding adjustment parameters of the target rotor if the difference is greater than a preset threshold includes:

[0023] If the difference is greater than a preset threshold, the target rotor is determined to be the rotor corresponding to the drive motor with the largest output power and the rotor corresponding to the drive motor with the smallest output power.

[0024] Determine the threshold range to which the difference belongs;

[0025] Based on the threshold range to which the difference belongs, determine the adjustment amount of the target rotor arm length and / or arm angle corresponding to the threshold range.

[0026] Optionally, the multi-rotor aircraft control method further includes:

[0027] A pre-defined range of the difference is associated with the adjustment amount of the target rotor's arm length and / or arm angle; wherein, the larger the difference, the larger the adjustment angle of the arm length and / or the arm angle.

[0028] To achieve the above objectives, the present invention also provides a multi-rotor aircraft control device, the multi-rotor aircraft control device including a memory, a processor, and a multi-rotor aircraft control program stored in the memory and executable on the processor, wherein the multi-rotor aircraft control program, when executed by the processor, implements the various steps of the multi-rotor aircraft control method as described above.

[0029] To achieve the above objectives, the present invention also provides a multi-rotor aircraft, including a flight body and a plurality of rotors located on the flight body, wherein the rotors are provided with a telescopic structure and a rotatable structure is provided at the connection between the flight body and the rotors; the aircraft further includes the control device of claim 8 and a drive structure for driving the telescopic structure and the rotatable structure to move according to the control of the control device.

[0030] Optionally, the telescopic structure is used to adjust the arm length of the rotor relative to the aircraft body; the telescopic structure includes a gear and a rack, the gear and the rack are located on the arm of the rotor, and the rotor is equipped with a first servo motor, the first servo motor being used to drive the gear.

[0031] Optionally, the rotatable structure is used for the rotation of the rotor arm. The rotatable structure includes a hinge, and the rotor is equipped with a second servo motor. The second servo motor controls the rotation of the rotor arm through the hinge.

[0032] To achieve the above objectives, the present invention also provides a computer-readable storage medium storing a multi-rotor aircraft control program, which, when executed by a processor, implements the various steps of the multi-rotor aircraft control method as described above.

[0033] This invention provides a multi-rotor aircraft and its control method, device, and storage medium. The method involves acquiring the output power of the drive motors of each rotor; determining the difference between the maximum and minimum values ​​of each output power; if the difference exceeds a preset threshold, determining the target rotor to be adjusted and the corresponding adjustment parameters; and controlling the target rotor to adjust according to the determined adjustment parameters. By controlling the target rotor to adjust according to the determined adjustment parameters, the output power requirements of each rotor in the multi-rotor aircraft are consistent under different load distributions or motion attitudes. This reduces the matching power requirements of the drive motors of the multi-rotor aircraft rotors, avoids over-design of the rotor drive motors, achieves lightweighting of the multi-rotor aircraft rotor drive motors, and simultaneously reduces the cost of the drive motors and the energy consumption of the multi-rotor aircraft. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the hardware structure of the multi-rotor aircraft control device according to an embodiment of the present invention;

[0035] Figure 2 This is a flowchart illustrating the first embodiment of the multi-rotor aircraft control method of the present invention;

[0036] Figure 3 This is a schematic diagram of the force equilibrium state of the multi-rotor aircraft of the present invention;

[0037] Figure 4 This is a schematic diagram of the force analysis of the multi-rotor aircraft of the present invention in a state of force equilibrium;

[0038] Figure 5 This is a schematic diagram illustrating the force analysis of the multi-rotor aircraft of the present invention under load;

[0039] Figure 6 This is a schematic diagram illustrating the force analysis of the multi-rotor aircraft of the present invention during flight.

[0040] Figure 7 This is a schematic diagram of the force analysis of each rotor of the multi-rotor aircraft of the present invention before adjustment;

[0041] Figure 8 This is a schematic diagram of the force analysis of each rotor of the multi-rotor aircraft of the present invention after adjustment;

[0042] Figure 9 This is a schematic diagram of the force analysis of each rotor of the multi-rotor aircraft of the present invention before adjustment;

[0043] Figure 10 This is a schematic diagram of the force analysis of each rotor of the multi-rotor aircraft of the present invention after adjustment;

[0044] Figure 11This is a detailed flowchart of step S30 of the second embodiment of the multi-rotor aircraft control method of the present invention;

[0045] Figure 12 This is a detailed flowchart of step S30 of the third embodiment of the multi-rotor aircraft control method of the present invention;

[0046] Figure 13 This is a detailed flowchart of step S30 of the fourth embodiment of the multi-rotor aircraft control method of the present invention.

[0047] Figure 14 This is a schematic diagram of the structure of the gear rack and hinge of the multi-rotor aircraft of the present invention.

[0048] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0050] The main solution of this invention is: to obtain the output power of the drive motor of each rotor; to determine the difference between the maximum and minimum values ​​of each output power; if the difference is greater than a preset threshold, to determine the target rotor that needs to be adjusted and the adjustment parameters corresponding to the target rotor; and to control the target rotor to adjust according to the determined adjustment parameters.

[0051] By controlling the target rotor to adjust according to the determined adjustment parameters, the output power requirements of each rotor of the multi-rotor aircraft are consistent under different load distributions or motion attitudes. This reduces the matching power requirements of the drive motor of the multi-rotor aircraft rotor, avoids over-design of the rotor drive motor power, realizes the lightweighting of the multi-rotor aircraft rotor drive motor, and at the same time reduces the cost of the drive motor and reduces the energy consumption of the multi-rotor aircraft.

[0052] As one implementation method, multi-rotor aircraft control equipment can be like... Figure 1 As shown.

[0053] The embodiments of the present invention relate to a multi-rotor aircraft control device, which includes: a processor 101, such as a CPU, a memory 102, and a communication bus 103. The communication bus 103 is used to enable communication between these components.

[0054] Memory 102 can be high-speed RAM or stable memory (non-volatile memory), such as disk storage. Figure 1As shown, the memory 102, which is a computer-readable storage medium, may include a multirotor aircraft control program; and the processor 101 can be used to call the multirotor aircraft control program stored in the memory 102 and perform the following operations:

[0055] Obtain the output power of the drive motors for each rotor;

[0056] Determine the difference between the maximum and minimum values ​​of each output power;

[0057] If the difference is greater than a preset threshold, then the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor are determined.

[0058] The target rotor is controlled to adjust according to the determined adjustment parameters.

[0059] Optionally, the processor 101 can be used to call the multirotor aircraft control program stored in the memory 102 and perform the following operations:

[0060] Redetermine the difference between the maximum and minimum values ​​of each output power;

[0061] When the difference is greater than a preset threshold, the step of determining the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor is executed.

[0062] When the difference is less than or equal to a preset threshold, the rotor adjustment ends.

[0063] Optionally, the processor 101 can be used to call the multirotor aircraft control program stored in the memory 102 and perform the following operations:

[0064] If the difference is greater than a preset threshold, then the rotor corresponding to the drive motor with the highest output power is determined as the target rotor;

[0065] Determining the adjustment parameters includes increasing the arm length corresponding to the target rotor and / or adjusting the arm angle corresponding to the target rotor to reduce the angle between the target rotor and other rotors.

[0066] Optionally, the processor 101 can be used to call the multirotor aircraft control program stored in the memory 102 and perform the following operations:

[0067] If the difference is greater than a preset threshold, the rotor corresponding to the drive motor with the lowest output power is determined as the target rotor.

[0068] Determining the adjustment parameters includes reducing the arm length corresponding to the target rotor and / or adjusting the arm angle corresponding to the target rotor to increase the angle between the target rotor and other rotors.

[0069] Optionally, the processor 101 can be used to call the multirotor aircraft control program stored in the memory 102 and perform the following operations:

[0070] The arm length corresponding to the target rotor is adjusted relative to the aircraft body according to the adjustment parameters; and / or...

[0071] The arm corresponding to the target rotor is controlled to rotate to the adjusted angle according to the adjustment parameters.

[0072] Optionally, the processor 101 can be used to call the multirotor aircraft control program stored in the memory 102 and perform the following operations:

[0073] If the difference is greater than a preset threshold, the target rotor is determined to be the rotor corresponding to the drive motor with the largest output power and the rotor corresponding to the drive motor with the smallest output power.

[0074] Determine the threshold range to which the difference belongs;

[0075] Based on the threshold range to which the difference belongs, determine the adjustment amount of the target rotor arm length and / or arm angle corresponding to the threshold range.

[0076] Optionally, the processor 101 can be used to call the multirotor aircraft control program stored in the memory 102 and perform the following operations:

[0077] A pre-defined range of the difference is associated with the adjustment amount of the target rotor's arm length and / or arm angle; wherein, the larger the difference, the larger the adjustment angle of the arm length and / or the arm angle.

[0078] Based on the hardware architecture of the multi-rotor aircraft control device described above, an embodiment of the multi-rotor aircraft control method of the present invention is proposed.

[0079] Reference Figure 2 , Figure 2 This is a first embodiment of the multi-rotor aircraft control method of the present invention, which includes the following steps:

[0080] Step S10: Obtain the output power of the drive motor of each rotor.

[0081] Optionally, the aircraft is a multi-rotor aircraft, which has multiple rotors, each with a corresponding drive motor. The multi-rotor aircraft adjusts the thrust of each rotor by regulating the rotational speed of the individual rotors using the drive motors, thereby adjusting the combined thrust of the rotors to achieve a state of force balance and thus achieving flight attitude control. The multi-rotor aircraft exhibits different flight attitudes during vertical, pitch, roll, and yaw motions.

[0082] In a state of equilibrium, the net force acting on a multirotor aircraft, and the net torque of that net force about the aircraft's center of gravity, are both zero. Taking a quadcopter as an example... Figure 3 As shown, under force equilibrium, the forces acting on a quadcopter must satisfy the following constraints:

[0083]

[0084]

[0085]

[0086] Among them, the gravity of the aircraft is The thrust of rotor A is The distance from the center position O to the rotor A is The angular velocity of rotor A is The thrust of rotor B is The distance from the center position O to the rotor B is The angular velocity of rotor B is The thrust of rotor C is The distance from the center position O to the rotor C is The angular velocity of rotor C is The thrust of rotor D is The distance from the center position O to the rotor D is The angular velocity of rotor D is

[0087] To minimize the difference in thrust among the rotors of a multirotor aircraft under various operating conditions, and thus to match each rotor with a rotor drive motor of the same specification, existing multirotor aircraft typically design the arrangement of each rotor and component to ensure that the center of the resultant thrust of the rotors in the hovering state coincides as closely as possible with the aircraft's center of gravity. Taking a quadcopter as an example... Figure 4 As shown, the thrust of each rotor is the same, and the output power of the rotor drive motor is consistent.

[0088] However, when an aircraft is loaded with a certain load and the center of gravity of that load is far from the center of gravity of the aircraft, such as Figure 5 As shown, the overall center of gravity of the aircraft will shift, that is, from point O to point O′; or, when the aircraft is in a high-speed forward flight state, such as Figure 6 As shown, the aircraft will experience forward drag f. To maintain the aircraft's force balance, different rotors need to provide different magnitudes of thrust. At this point, the output power of the drive motors for each rotor in a multi-rotor aircraft will differ, necessitating the monitoring of the drive motor's output power.

[0089] Optionally, the output power of the drive motor of each rotor can be acquired in real time. Optionally, the output power of the drive motor of each rotor can be acquired within a preset time period. Optionally, the output power of the drive motor of each rotor can be acquired when the multi-rotor aircraft is loaded with a certain load or is in a high-speed forward flight state.

[0090] Step S20: Determine the difference between the maximum and minimum values ​​of each output power.

[0091] Optionally, when the thrust provided by each rotor is different, the output power of the drive motors for each rotor is also different. The difference between the maximum and minimum output power of each drive motor is then determined. Taking a quadcopter as an example, the output power of the drive motor for rotor A is *a*, the output power of the drive motor for rotor B is *b*, the output power of the drive motor for rotor C is *c*, and the output power of the drive motor for rotor D is *d*, where *a* > *b* > *c* > *d*. The difference between the maximum and minimum output power is equal to *ad*. Optionally, when the difference is less than or equal to a preset threshold, it is determined that the thrust of each rotor is basically the same, and no adjustment is needed.

[0092] Step S30: If the difference is greater than a preset threshold, then determine the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor.

[0093] Optionally, if the difference between the maximum and minimum output power of each rotor's drive motor is greater than a preset threshold at the same time, it indicates that the output power difference of each rotor drive motor is too large, and the force on the rotor needs to be adjusted to reduce the difference in output power of each rotor drive motor.

[0094] The target rotor to be adjusted is determined. Optionally, the target rotor is the rotor corresponding to the drive motor with the highest output power, or the target rotor is the rotor corresponding to the drive motor with the lowest output power.

[0095] After determining the target rotor, it is also necessary to determine the corresponding adjustment parameters. Optionally, the adjustment parameters include the adjustment amount of the arm length or the adjustment amount of the arm angle corresponding to the target rotor.

[0096] Step S40: Control the target rotor to adjust according to the determined adjustment parameters.

[0097] Optionally, when the adjustment parameter is to adjust the arm length corresponding to the target rotor, the arm corresponding to the target rotor is controlled to extend and retract relative to the aircraft body according to the adjustment parameter, so as to adjust the arm length corresponding to the target rotor. For example, the arm where the target rotor is located is equipped with gears and racks, and the extension and retraction of the arm relative to the aircraft body is controlled by the gears and racks.

[0098] Optionally, when the adjustment parameter is to adjust the arm angle corresponding to the target rotor, the arm corresponding to the target rotor is controlled to rotate to the adjusted angle to adjust the arm angle corresponding to the target rotor. For example, a hinge is set at the middle position of the arm to realize the arm rotation.

[0099] Optionally, when the adjustment parameters are to adjust the arm length and arm angle corresponding to the target rotor, the arm corresponding to the target rotor is controlled to extend and retract relative to the aircraft body, and the target rotor is controlled to rotate to the adjusted angle, so as to adjust the arm length and arm angle corresponding to the target rotor.

[0100] In flight, the aircraft's controller cannot accurately sense the overall center of gravity and the center positions of each rotor, and therefore cannot determine the force balance state that each rotor ultimately needs to be adjusted to. Therefore, feedback control is used to gradually adjust the arm length and angle of each rotor's corresponding arm, eventually converging until the output power of each rotor's drive motor is essentially the same. Optionally, after step S40, the process further includes: re-determining the difference between the maximum and minimum values ​​of each output power; when the difference is greater than a preset threshold, executing the step of determining the target rotor to be adjusted and the corresponding adjustment parameters; when the difference is less than or equal to the preset threshold, ending the rotor adjustment. By repeatedly adjusting the arms of each rotor, the difference in output power of each rotor's drive motor will gradually converge until the difference between the maximum and minimum output power of each rotor's drive motor is less than or equal to the preset threshold.

[0101] Taking a quadcopter as an example, in forward flight, before adjusting the arm corresponding to the rotor, the state of the aircraft's arms and the force balance are as follows: Figure 7 As shown, at this point, all rotor arms are of uniform length, and the thrust of the two rear rotors is significantly greater than that of the two front rotors. After feedback control adjustment of the rotor arms, the state of the aircraft arms and the force balance are as follows: Figure 8 As shown, at this time, the two rotor arms on the left side of the aircraft shorten and rotate outward at a certain angle, while the two rotor arms on the right side extend significantly and rotate inward at a certain angle, so that the thrust of each rotor of the aircraft is basically equal.

[0102] Taking a quadcopter as an example, when the load of the multi-rotor is concentrated on the right side of the multi-rotor, before the adjustment of the arm corresponding to the rotor, the state of the aircraft arm and the force balance are as follows: Figure 9As shown, at this point, all rotor arms are of equal length, and the thrust of the two right rotors is significantly greater than that of the two left rotors. After feedback control adjustment of the rotor arms, the state of the aircraft arms and the force balance are as follows: Figure 10 As shown, at this time, the two rotor arms on the left side of the aircraft shorten and rotate outward at a certain angle, while the two rotor arms on the right side extend significantly and rotate inward at a certain angle, so that the thrust of each rotor of the aircraft is basically equal.

[0103] In the technical solution of this embodiment, when the difference in output power of the drive motors of each rotor is greater than a preset threshold, the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor are determined. By controlling the target rotor to adjust according to the determined adjustment parameters, the output power requirements of each rotor of the multi-rotor aircraft are consistent under different load distributions or motion attitudes, thereby reducing the matching power requirements of the drive motors of the multi-rotor aircraft rotors, avoiding over-design of the power of the rotor drive motors, realizing the lightweighting of the multi-rotor aircraft rotor drive motors, and reducing the cost of the drive motors and the energy consumption of the multi-rotor aircraft.

[0104] Reference Figure 11 , Figure 11 This is a second embodiment of the multi-rotor aircraft control method of the present invention. Based on the first embodiment, step S30 includes:

[0105] Step S31: If the difference is greater than a preset threshold, then the rotor corresponding to the drive motor with the largest output power is determined as the target rotor.

[0106] Step S32, determining that the adjustment parameters include increasing the arm length corresponding to the target rotor and / or adjusting the arm angle corresponding to the target rotor, so that the angle between the target rotor and other rotors becomes smaller.

[0107] If, at any given moment, the difference between the maximum and minimum output power of each rotor's drive motor exceeds a preset threshold, it indicates that the output power difference between the rotor drive motors is too large, and the force on the rotor needs to be adjusted to reduce the difference in output power between the rotor drive motors.

[0108] Optionally, the rotor corresponding to the drive motor with the highest output power is determined as the target rotor. At this time, the lever arm of the target rotor is too short and too close to the center of gravity of the aircraft. Its arm should be appropriately lengthened to increase the lever arm, or the arm angle of the target rotor should be adjusted so that the arm corresponding to the target rotor rotates towards the rotor with the lower output power among the two adjacent rotors, so as to reduce the thrust and power requirements of the target rotor.

[0109] Optionally, the rotor corresponding to the drive motor with the largest output power is determined as the target rotor. At this time, the lever arm of the target rotor is too short and too close to the center of gravity of the aircraft. Its arm should be appropriately lengthened to increase the lever arm, and the arm angle of the target rotor should be adjusted so that the arm corresponding to the target rotor rotates towards the rotor with the smaller output power among the two adjacent rotors, so as to reduce the thrust and power requirements of the target rotor.

[0110] Optionally, a pre-defined correspondence is set between the range of the difference and the adjustment amount of the target rotor's arm length and / or arm angle; wherein, the larger the difference, the larger the adjustment angle of the arm length and / or the arm angle.

[0111] In the technical solution of this embodiment, by adjusting the arm length and / or arm angle of the rotor corresponding to the drive motor with the largest output power, the output power of the target rotor is reduced, so that the output power requirements of each rotor of the multi-rotor aircraft are consistent under different load distributions or motion attitudes, thereby reducing the matching power requirements of the drive motor of the multi-rotor aircraft rotor.

[0112] Reference Figure 12 , Figure 12 In a third embodiment of the multi-rotor aircraft control method of the present invention, based on the first or second embodiment, step S30 includes:

[0113] Step S33: If the difference is greater than a preset threshold, then the rotor corresponding to the drive motor with the lowest output power is determined as the target rotor.

[0114] Step S34, determining the adjustment parameters includes reducing the arm length of the arm corresponding to the target rotor, and / or adjusting the arm angle of the arm corresponding to the target rotor to increase the angle between the target rotor and other rotors.

[0115] Optionally, the rotor corresponding to the drive motor with the lowest output power is determined as the target rotor. In this case, the lever arm of the target rotor is too long and the target rotor is too far from the center of gravity of the aircraft. The arm corresponding to the target rotor should be shortened appropriately to reduce the lever arm, or the arm angle of the arm where the target rotor is located should be adjusted so that the arm corresponding to the target rotor rotates with the rotor side with the higher output power among the two adjacent rotors, so as to reduce the thrust and power requirements of its adjacent rotors.

[0116] Optionally, the rotor corresponding to the drive motor with the lowest output power is determined as the target rotor. In this case, the lever arm of the target rotor is too long and the target rotor is too far from the center of gravity of the aircraft. The arm corresponding to the target rotor should be shortened appropriately to reduce the lever arm, and the arm angle of the arm where the target rotor is located should be adjusted so that the arm corresponding to the target rotor rotates with the rotor side with the higher output power among the two adjacent rotors, thereby reducing the thrust and power requirements of its adjacent rotors.

[0117] Optionally, a pre-defined correspondence is set between the range of the difference and the adjustment amount of the target rotor's arm length and / or arm angle; wherein, the larger the difference, the larger the adjustment angle of the arm length and / or the arm angle.

[0118] In the technical solution of this embodiment, by adjusting the arm length and / or arm angle of the rotor corresponding to the drive motor with the lowest output power, the output power of other rotors is reduced, so that the output power requirements of each rotor of the multi-rotor aircraft are consistent under different load distributions or motion attitudes, thereby reducing the matching power requirements of the drive motors of the multi-rotor aircraft rotors.

[0119] Reference Figure 13 , Figure 13 In the fourth embodiment of the multi-rotor aircraft control method of the present invention, based on any one of the first to third embodiments, step S30 includes:

[0120] Step S35: If the difference is greater than a preset threshold, the target rotor is determined to be the rotor corresponding to the drive motor with the largest output power and the rotor corresponding to the drive motor with the smallest output power.

[0121] Step S36: Determine the threshold range to which the difference belongs;

[0122] Step S37: Based on the threshold range to which the difference belongs, determine the adjustment amount of the target rotor arm length and / or arm angle corresponding to the threshold range.

[0123] Optionally, a pre-defined correspondence is set between the range of the difference and the adjustment amount of the target rotor's arm length and / or arm angle; wherein, the larger the difference, the larger the adjustment angle of the arm length and / or the arm angle.

[0124] Optionally, when the difference falls within the first threshold range, it indicates that the difference in output power among the rotors is relatively large, and the target rotor is determined to be either the rotor corresponding to the drive motor with the highest output power or the rotor corresponding to the drive motor with the lowest output power; when the difference falls within the second threshold range, it indicates that the difference in output power among the rotors is very large, and the target rotor is determined to be either the rotor corresponding to the drive motor with the highest output power or the rotor corresponding to the drive motor with the lowest output power; wherein, the minimum value of the second threshold range is greater than the maximum value of the first threshold range.

[0125] Optionally, when the difference falls within the second threshold range, after determining that the target rotor is the rotor corresponding to the drive motor with the highest output power and the rotor corresponding to the drive motor with the lowest output power, when the difference falls within the first sub-range of the second threshold range, the adjustment parameters of the target rotor are determined to include the arm length of the target rotor or the arm angle of the target rotor; when the difference falls within the second sub-range of the second threshold range, the adjustment parameters of the target rotor are determined to include the arm length of the target rotor and the arm angle of the target rotor; the minimum value of the second sub-range is greater than the maximum value of the first sub-range.

[0126] In the technical solution of this embodiment, the adjustment amount of the arm length and / or arm angle of the target rotor is determined according to the range of the difference, and the force on the target rotor is precisely adjusted so that the output power requirements of each rotor are consistent under different load distributions or motion attitudes of the multi-rotor aircraft, thereby reducing the matching power requirements of the drive motor of the multi-rotor aircraft rotor.

[0127] The present invention also provides a multi-rotor aircraft control device, the multi-rotor aircraft control device including a memory, a processor, and a multi-rotor aircraft control program stored in the memory and executable on the processor. When the multi-rotor aircraft control program is executed by the processor, it implements the various steps of the multi-rotor aircraft control method as described in the above embodiments.

[0128] The present invention also provides a multi-rotor aircraft, including a flight body and a plurality of rotors located on the flight body, wherein the rotors are provided with a telescopic structure and a rotatable structure is provided at the connection between the flight body and the rotors; the aircraft further includes a control device as described in the above embodiment and a drive structure that drives the telescopic structure and the rotatable structure to move according to the control of the control device.

[0129] Optionally, the telescopic structure is used to adjust the arm length of the rotor relative to the aircraft body; the telescopic structure includes a gear and a rack, the gear and the rack being located on the rotor arm, and the rotor being equipped with a first servo motor, the first servo motor being used to drive the gear, such as... Figure 14 As shown.

[0130] Optionally, the rotatable structure is used for the rotation of the rotor's arm. The rotatable structure includes a hinge, and the rotor is equipped with a second servo motor, which controls the rotation of the rotor's arm via the hinge. For example, as... Figure 14 As shown, a hinge is provided at the connection between the arm and the body, which allows for the rotation adjustment of the arm.

[0131] Multi-rotor aircraft can adjust the rotor position through telescopic and rotatable structures according to the aircraft's load and flight conditions. This adjusts the center position of the resultant pull of several rotors, so that the shaft power requirements of each rotor are as consistent as possible under different load distributions and motion attitudes, thereby reducing the matching power requirements of the multi-rotor aircraft's rotor drive motor.

[0132] The present invention also provides a computer-readable storage medium storing a multi-rotor aircraft control program, which, when executed by a processor, implements the various steps of the multi-rotor aircraft control method as described in the above embodiments.

[0133] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0134] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, system, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, system, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, system, article, or apparatus that includes that element.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that the systems described in the embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, parking management device, air conditioner, or network device, etc.) to execute the systems described in the various embodiments of the present invention.

[0136] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A control method for a multi-rotor aircraft, characterized in that, The multi-rotor aircraft control method includes: When the multi-rotor aircraft is in high-speed forward flight, the output power of the drive motor of each rotor is obtained; Determine the difference between the maximum and minimum values ​​of each output power; If the difference is greater than a preset threshold, then the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor are determined. The target rotor is controlled to adjust according to the determined adjustment parameters; Redetermine the difference between the maximum and minimum values ​​of each output power; When the difference is greater than a preset threshold, the step of determining the target rotor that needs to be adjusted and the corresponding adjustment parameters of the target rotor is executed. When the difference is less than or equal to a preset threshold, the rotor adjustment ends.

2. The multi-rotor aircraft control method as described in claim 1, characterized in that, The step of determining the target rotor that needs adjustment and the corresponding adjustment parameters of the target rotor if the difference is greater than a preset threshold includes: If the difference is greater than a preset threshold, then the rotor corresponding to the drive motor with the highest output power is determined as the target rotor; Determining the adjustment parameters includes increasing the arm length corresponding to the target rotor and / or adjusting the arm angle corresponding to the target rotor to reduce the angle between the target rotor and other rotors.

3. The multi-rotor aircraft control method as described in claim 1, characterized in that, The step of determining the target rotor that needs adjustment and the corresponding adjustment parameters of the target rotor if the difference is greater than a preset threshold includes: If the difference is greater than a preset threshold, the rotor corresponding to the drive motor with the lowest output power is determined as the target rotor. Determining the adjustment parameters includes reducing the arm length corresponding to the target rotor and / or adjusting the arm angle corresponding to the target rotor to increase the angle between the target rotor and other rotors.

4. The multi-rotor aircraft control method as described in claim 1, characterized in that, The steps for adjusting the control rotor according to the determined adjustment parameters include: The arm length corresponding to the target rotor is adjusted relative to the aircraft body according to the adjustment parameters; and / or... The arm corresponding to the target rotor is controlled to rotate to the adjusted angle according to the adjustment parameters.

5. The multi-rotor aircraft control method as described in claim 1, characterized in that, The step of determining the target rotor that needs adjustment and the corresponding adjustment parameters of the target rotor if the difference is greater than a preset threshold includes: If the difference is greater than a preset threshold, the target rotor is determined to be the rotor corresponding to the drive motor with the largest output power and the rotor corresponding to the drive motor with the smallest output power. Determine the threshold range to which the difference belongs; Based on the threshold range to which the difference belongs, determine the adjustment amount of the target rotor arm length and / or arm angle corresponding to the threshold range.

6. The multi-rotor aircraft control method as described in claim 5, characterized in that, The multi-rotor aircraft control method also includes: A pre-defined range of the difference is associated with the adjustment amount of the target rotor's arm length and / or arm angle; wherein, the larger the difference, the larger the adjustment angle of the arm length and / or the arm angle.

7. A control device for a multi-rotor aircraft, characterized in that, The multi-rotor aircraft control device includes a memory, a processor, and a multi-rotor aircraft control program stored in the memory and executable on the processor. When the multi-rotor aircraft control program is executed by the processor, it implements the various steps of the multi-rotor aircraft control method as described in any one of claims 1-6.

8. A multi-rotor aircraft, characterized in that, The aircraft includes a flight body and multiple rotors located on the flight body, wherein the rotors are provided with telescopic structures and the connection between the flight body and the rotors is provided with rotatable structures; the aircraft also includes the control device of claim 7 and a drive structure that drives the telescopic structures and rotatable structures to move according to the control of the control device.

9. The multi-rotor aircraft as described in claim 8, characterized in that, The telescopic structure is used to adjust the arm length of the rotor relative to the aircraft body; the telescopic structure includes a gear and a rack, the gear and the rack are located on the arm of the rotor, and the rotor is equipped with a first servo motor, which is used to drive the gear.

10. The multi-rotor aircraft as described in claim 8, characterized in that, The rotatable structure is used for the rotation of the rotor arm. The rotatable structure includes a hinge. The rotor is equipped with a second servo motor, which controls the rotation of the rotor arm through the hinge.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a multi-rotor aircraft control program, which, when executed by a processor, implements the steps of the multi-rotor aircraft control method as described in any one of claims 1-6.

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