Rotor working state detection method, rotor type aircraft and storage medium

Abstract

The application discloses a rotor working state detection method, a rotor type aircraft and a storage medium, and belongs to the technical field of aircraft state detection, wherein the rotor working state detection method comprises the following steps: acquiring current first rotating speed information of a rotor and current second rotating speed information of a motor corresponding to the rotor; calculating a ratio or a difference between a first rotating speed corresponding to the first rotating speed information and a second rotating speed corresponding to the second rotating speed information; and if the ratio is in a preset first abnormal ratio range or the difference is in a preset first abnormal difference range, determining that the working state of the rotor is abnormal. Since the rotating speed of the rotor is necessarily greatly different from the rotating speed of the motor corresponding to the rotor when the rotor is broken, the technical scheme can effectively detect whether the rotor itself is broken by acquiring and judging whether the ratio or the difference between the first rotating speed of the current rotor and the second rotating speed of the motor corresponding to the rotor is abnormal, so that the safety of the rotor type aircraft is improved.

Description

Technical Field

[0001] This invention relates to the field of aircraft condition detection technology, specifically to a rotor operating condition detection method, a rotorcraft, and a storage medium. Background Technology

[0002] Currently, the flight scenarios for multi-rotor aircraft are increasing, and the operating environments are becoming more complex, thus placing higher demands on their safety. Existing multi-rotor aircraft generally improve safety through power redundancy, but when the rotor itself breaks, power redundancy alone cannot guarantee the safety of the multi-rotor aircraft. There is an urgent need for a rotor operating status detection scheme to detect rotor breakage in a timely manner, so as to make targeted adjustments to the multi-rotor aircraft's power and improve its safety.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a rotor operating status detection method, a rotorcraft, and a storage medium to solve the technical problem that relying solely on power redundancy cannot guarantee the safety of multi-rotor aircraft.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: According to one aspect of the present invention, a method for detecting the operating state of a rotor is provided, the method comprising: Obtain the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; Calculate the ratio or difference between the first speed corresponding to the first speed information and the second speed corresponding to the second speed information; If the ratio is within a preset first abnormal ratio range or the difference is within a preset first abnormal difference range, then the rotor is determined to be in an abnormal operating state.

[0006] Optionally, after calculating the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information, the method further includes: If the ratio is not within the preset first abnormal ratio range or the difference is not within the preset first abnormal difference range, then return to the step of obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor.

[0007] Optionally, after determining that the rotor's operating state is abnormal, the method further includes: reporting the position information corresponding to the rotor whose operating state is abnormal.

[0008] Optionally, obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor includes: The first rotational speed of the rotor and the second rotational speed of the motor corresponding to the rotor are acquired in real time; or, the first rotational speed of the rotor and the second rotational speed of the motor corresponding to the rotor are acquired periodically.

[0009] Optionally, obtaining the first rotational speed information of the rotor includes: obtaining the first rotational speed information of the rotor through a rotational speed sensor.

[0010] Optionally, obtaining the second rotational speed information of the motor corresponding to the rotor includes: obtaining the second rotational speed information from the drive unit of the motor corresponding to the rotor.

[0011] Optionally, prior to the method, the following steps are also included: Obtain the current second rotational speed information of the motor corresponding to the rotor. If the second rotational speed information corresponds to the second rotational speed within a first preset rotational speed range, then execute the steps of obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor.

[0012] Optionally, after calculating the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information, the method further includes: If the ratio is not within the preset first abnormal ratio range or the difference is not within the preset first abnormal difference range, and the second rotational speed is within the second preset rotational speed range, then the rotor working status detection process ends.

[0013] According to another aspect of the present invention, a rotorcraft is provided, the rotorcraft including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the rotor operating state detection method described above.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, on which a rotor operating state detection program is stored, wherein the rotor operating state detection program, when executed by a processor, implements the steps of the above-described rotor operating state detection method.

[0015] The rotor operating state detection method, aircraft, and storage medium provided in this invention embodiment acquire the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; calculate the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information; if the ratio is within a preset first abnormal ratio range or the difference is within a preset first abnormal difference range, then the operating state of the rotor is determined to be abnormal. Since the rotational speed of a rotor will inevitably differ significantly from the rotational speed of its corresponding motor when the rotor breaks, this technical solution, by acquiring and determining whether the ratio or difference between the current first rotational speed of the rotor and the second rotational speed of its corresponding motor is abnormal, can effectively detect whether the rotor itself has broken, providing a basis for targeted adjustment of the power of the multi-rotor aircraft, thereby improving the safety of the rotorcraft. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a flowchart of a rotor operating status detection method provided in an embodiment of the present invention; Figure 2 This is a flowchart of another rotor operating state detection method provided in an embodiment of the present invention; Figure 3 This is a flowchart of another rotor operating status detection method provided in an embodiment of the present invention; Figure 4 This is a flowchart of another rotor operating state detection method provided in an embodiment of the present invention; Figure 5 This is a flowchart of another rotor operating state detection method provided in an embodiment of the present invention; Figure 6 This is a flowchart of another rotor operating state detection method provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of a rotorcraft structure provided in an embodiment of the present invention. Detailed Implementation

[0017] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] Example 1 Figure 1This is a flowchart of a rotor operating state detection method provided by an embodiment of the present invention. The method of this embodiment is automatically operated by a rotorcraft equipped with a rotational speed sensor capable of sensing the rotor speed. The steps can be performed sequentially as shown in the flowchart, or multiple steps can be performed simultaneously depending on the actual situation; no limitation is made here. The rotor operating state detection method provided by the present invention includes: Step S110: Obtain the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; Step S120: Calculate the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information; Step S130: If the ratio is within a preset first abnormal ratio range or the difference is within a preset first abnormal difference range, then the rotor is determined to be in an abnormal working state.

[0019] Through the above implementation method, firstly, the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor are obtained; then, the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information is calculated; finally, if the ratio is within a preset first abnormal ratio range or the difference is within a preset first abnormal difference range, the working state of the rotor is determined to be abnormal.

[0020] In this embodiment, it should first be noted that, considering the technical problem in the prior art that relying solely on power redundancy cannot guarantee the safety of multi-rotor aircraft, this embodiment acquires the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; calculates the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information; if the ratio is within a preset first abnormal ratio range or the difference is within a preset first abnormal difference range, then the rotor's operating state is determined to be abnormal. Since the rotational speed of a rotor will inevitably differ significantly from the rotational speed of its corresponding motor when the rotor breaks, this technical solution, by acquiring and determining whether the ratio or difference between the current first rotational speed of the rotor and the second rotational speed of its corresponding motor is abnormal, can effectively detect whether the rotor itself has broken, providing a basis for targeted adjustment of the multi-rotor aircraft's power, thereby improving the safety of the rotorcraft.

[0021] The above steps will be described in detail below with reference to specific implementation methods.

[0022] In step S110, the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor are obtained.

[0023] Specifically, the first rotational speed information of the rotor and the second rotational speed information of the motor corresponding to the rotor are obtained so that the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information can be compared later.

[0024] Optionally, obtaining the first rotational speed information of the rotor includes: obtaining the first rotational speed information of the rotor through a rotational speed sensor. For example, the rotational speed sensor is placed below the rotor to sense the first rotational speed of the rotor.

[0025] Alternatively, the speed sensor may be a non-contact speed sensor with communication capabilities.

[0026] Specifically, the non-contact speed sensor transmits the sensed first speed information to the control unit of the rotorcraft through its built-in communication function, so that the control unit can process the first speed information.

[0027] Optionally, obtaining the second rotational speed information of the motor corresponding to the rotor includes: obtaining the second rotational speed information from the drive unit of the motor corresponding to the rotor.

[0028] Specifically, the motor drive unit can return the motor's second rotational speed information.

[0029] In one embodiment, obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor includes: Step S111: Real-time acquisition of the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; or, periodically acquisition of the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor.

[0030] In this embodiment, the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor can be acquired in real time to promptly detect abnormal operating states of the rotor; alternatively, the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor can be acquired periodically at a preset time interval to save system resources. The preset time interval can be set according to actual needs, and this embodiment does not limit the specific value of the preset time interval.

[0031] In step S120, the ratio or difference between the first speed corresponding to the first speed information and the second speed corresponding to the second speed information is calculated.

[0032] In step S130, if the ratio is within a preset first abnormal ratio range or the difference is within a preset first abnormal difference range, then the rotor is determined to be in an abnormal working state.

[0033] Specifically, when the rotor is intact, considering the tachometer error and wind influence, its first rotational speed corresponds to the second rotational speed of its corresponding motor, and the difference between the two should be within a normal range. However, when the rotor breaks, its rotational speed will inevitably differ significantly from the rotational speed of its corresponding motor. By pre-determining the theoretical range or experimental results, the range of the ratio or difference between the first rotational speed and the second rotational speed of the corresponding motor when the rotor breaks can be determined, and a corresponding first abnormal ratio range or first abnormal difference range can be preset in the rotorcraft. During the flight of the rotorcraft, by calculating the ratio or difference between the first rotational speed of the rotor and the second rotational speed of its corresponding motor at the same moment, and determining whether this ratio or difference falls within the corresponding first abnormal ratio range or first abnormal difference range, rotor breakage can be detected. For example, if the ratio or difference falls within the corresponding first abnormal ratio range or first abnormal difference range, it indicates that the rotor's operating state is abnormal and a breakage has occurred. Detecting rotor breakage provides a basis for targeted adjustments to the power system of multi-rotor aircraft, thereby improving the safety of rotorcraft.

[0034] In one implementation, please refer to Figure 2 , Figure 2 This is a flowchart of another rotor operating state detection method provided by an embodiment of the present invention. After calculating the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information, the method further includes: Step S140: If the ratio is not within the preset first abnormal ratio range or the difference is not within the preset first abnormal difference range, then return to the step of obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor.

[0035] In this embodiment, if the ratio is not within the preset first abnormal ratio range or the difference is not within the preset first abnormal difference range, it indicates that the rotor is in normal working condition. At this time, the process returns to the step of obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor, and continues the rotor working condition detection process.

[0036] In one implementation, please refer to Figure 3 , Figure 3 This is a flowchart of another rotor operating state detection method provided by an embodiment of the present invention. Prior to the rotor operating state detection method, it further includes: Step S100: Obtain the current second rotational speed information of the motor corresponding to the rotor. If the second rotational speed information corresponds to the second rotational speed within a first preset rotational speed range, then execute the step of obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor.

[0037] In this embodiment, since rotor breakage often occurs at higher motor speeds, rotor operating status detection is performed only when the motor's second speed reaches a higher level, within the first preset speed range. This effectively detects the rotor operating status while saving system resources. The first preset speed range refers to the range within which the motor's second speed is most susceptible to rotor breakage. Its specific value can be set according to actual conditions; this embodiment does not limit its specific value range.

[0038] In one implementation, please refer to Figure 4 , Figure 4 This is a flowchart of another rotor operating state detection method provided by an embodiment of the present invention. After calculating the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information, the method further includes: Step S150: If the ratio is not within the preset first abnormal ratio range or the difference is not within the preset first abnormal difference range, and the second rotation speed is within the second preset rotation speed range, then the rotor working status detection process ends.

[0039] In this embodiment, since rotor breakage often occurs at higher motor speeds, the rotor operating status detection process ends when the rotor is detected to be normal and the motor's second speed is low, within a second preset speed range. This effectively detects the rotor operating status while saving system resources. The second preset speed range refers to the range within which the risk of rotor breakage is low. Its specific value range can be set according to actual needs; this embodiment does not limit its specific value range.

[0040] The rotor operating state detection method of this invention acquires the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; calculates the ratio or difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information; if the ratio is within a preset first abnormal ratio range or the difference is within a preset first abnormal difference range, then the operating state of the rotor is determined to be abnormal. Because when a rotor breaks, its rotational speed will inevitably differ significantly from the rotational speed of its corresponding motor, this rotor operating state detection method, by acquiring and judging whether the ratio or difference between the current first rotational speed of the rotor and the second rotational speed of its corresponding motor is abnormal, can effectively detect whether the rotor itself is broken, providing a basis for targeted adjustment of the power of multi-rotor aircraft, thereby improving the safety of rotorcraft.

[0041] Example 2 Based on the above embodiments, Figure 5This is a flowchart of another rotor operating state detection method provided by an embodiment of the present invention. Taking the calculation and determination of the ratio of the first rotational speed corresponding to the first rotational speed information to the second rotational speed corresponding to the second rotational speed information as an example, the method includes: Step S210: Obtain the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; Step S220: Calculate the ratio of the first rotational speed corresponding to the first rotational speed information to the second rotational speed corresponding to the second rotational speed information; Step S230: Determine whether the ratio is within the preset first abnormal ratio range. If yes, proceed to step S240; otherwise, return to step S210. Specifically, if the ratio is within a preset first abnormal ratio range, it indicates that the rotor is in an abnormal working state and has broken. In this case, the position information corresponding to the rotor with the abnormal working state is reported, providing a basis for targeted adjustment of the multi-rotor aircraft's power, thereby improving the safety of the rotorcraft. If the ratio is not within the preset first abnormal ratio range, it indicates that the rotor is in a normal working state. In this case, the process returns to the step of obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor, and continues the rotor working state detection process.

[0042] Step S240: Determine that the rotor's working state is abnormal, and report the position information corresponding to the rotor with the abnormal working state; Specifically, in rotorcraft, different rotors and motors correspond to different numbers. When an abnormal rotor is detected, the number of the abnormal rotor can be reported to facilitate the location of the abnormal rotor. This provides a basis for effectively isolating the abnormal rotor from the entire power system, thereby improving the safety of rotorcraft.

[0043] Step S250, End.

[0044] The rotor operating status detection method of this invention acquires the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; calculates the ratio of the first rotational speed corresponding to the first rotational speed information to the second rotational speed corresponding to the second rotational speed information; if the ratio is within a preset first abnormal ratio range, the rotor operating status is determined to be abnormal, and the position information corresponding to the rotor with abnormal operating status is reported. Because when a rotor breaks, its rotational speed will inevitably differ significantly from the rotational speed of its corresponding motor, this rotor operating status detection method, by acquiring and judging whether the ratio of the current first rotational speed of the rotor to the second rotational speed of its corresponding motor is abnormal, can effectively detect whether the rotor itself is broken, providing a basis for targeted adjustment of the power of multi-rotor aircraft, thereby improving the safety of rotorcraft.

[0045] Example 3 Based on the above embodiments, Figure 6 This is a flowchart of another rotor operating state detection method provided in an embodiment of the present invention. Taking the calculation and determination of the difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information as an example, the method includes: Step S310: Obtain the current second rotational speed information of the motor corresponding to the rotor; Step S320: Determine whether the second speed corresponding to the second speed information is within the first preset speed range. If yes, proceed to step S330; otherwise, return to step S310. Specifically, if the second rotational speed information corresponds to a second rotational speed within a first preset rotational speed range, it indicates that the current second rotational speed of the motor is high enough to potentially cause rotor breakage. In this case, the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor are acquired, and the rotor operating status is detected. If the second rotational speed information corresponds to a second rotational speed outside the first preset rotational speed range, it indicates that the current second rotational speed of the motor is low, and there is generally no risk of rotor breakage. In this case, to save system resources, the rotor operating status is not detected, but the current second rotational speed information of the motor corresponding to the rotor is acquired, and it is determined whether the second rotational speed of the motor has risen to the first preset rotational speed range.

[0046] Step S330: Obtain the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor; Step S340: Calculate the difference between the first rotational speed corresponding to the first rotational speed information and the second rotational speed corresponding to the second rotational speed information; Step S350: Determine whether the difference is within the preset first abnormal difference range. If yes, proceed to step S360; otherwise, proceed to step S370. Specifically, if the difference is within a preset first abnormal difference range, it indicates that the rotor is in an abnormal working state and has broken. In this case, the position information corresponding to the rotor with the abnormal working state is reported, providing a basis for targeted adjustment of the multi-rotor aircraft's power, thereby improving the safety of the rotorcraft. If the difference is not within the preset first abnormal difference range, it indicates that the rotor is in a normal working state. In this case, it is further determined whether the second speed has dropped to a second preset speed range. When the second speed of the motor drops to a speed range where the risk of rotor breakage is not high, the detection of the rotor's working state is stopped in time, thereby saving system resources.

[0047] Step S360: Determine that the working state of the rotor is abnormal, and report the position information corresponding to the rotor with abnormal working state, then proceed to step S380. Step S370: Determine whether the second rotational speed is within the second preset rotational speed range. If yes, proceed to step S380; otherwise, return to step S330. Specifically, if the second rotational speed is within the second preset rotational speed range, it indicates that the second rotational speed of the motor has dropped to a speed range where the risk of rotor breakage is not high. At this time, in order to save system resources, the detection of rotor working status is stopped. If the second rotational speed is not within the second preset rotational speed range, it indicates that the second rotational speed of the motor is still within the speed range where there is a risk of rotor breakage. At this time, the process returns to the step of obtaining the current first rotational speed information of the rotor and the current second rotational speed information of the motor corresponding to the rotor, and the rotor working status detection process continues.

[0048] Step S380, End.

[0049] The rotor operating status detection method of this invention first determines whether the current speed of the motor is within a first preset speed range where rotor breakage is at risk. If the motor is within this first preset speed range, it acquires the current first speed information of the rotor and the current second speed information of the motor corresponding to the rotor. It then calculates the difference between the first speed information and the second speed information. If the difference is within a preset first abnormal difference range, the rotor operating status is determined to be abnormal, and the position information corresponding to the abnormal rotor is reported. If the rotor operating status is determined to be normal, it further determines whether the current second speed of the motor has decreased to a second preset speed range where rotor breakage is less likely. If the current second speed is within this second preset speed range, the detection of the rotor operating status is stopped immediately. Because when a rotor breaks, its speed will inevitably differ significantly from the speed of its corresponding motor, this rotor operating status detection method, by acquiring and determining whether the difference between the current first speed of the rotor and the second speed of its corresponding motor is abnormal, can effectively detect whether the rotor itself is broken. This provides a basis for targeted adjustments to the power of multi-rotor aircraft, thereby improving the safety of rotorcraft.

[0050] Example 4 Please refer to Figure 7 The present invention also provides a rotorcraft 700, which includes a memory 701, a processor 702, and a computer program (not shown in the figure) stored in the memory and executable on the processor. When the computer program is executed by the processor 702, it implements the steps of the rotor working state detection method as described in any of the embodiments one to three above.

[0051] The rotorcraft of this invention and the rotor working state detection method of the above embodiments one to three belong to the same concept. For details of its implementation process, please refer to the corresponding method embodiments. The technical features in the method embodiments are also applicable to this rotorcraft embodiment, and will not be repeated here.

[0052] Example 5 This invention also provides a computer-readable storage medium storing a rotor operating status detection program. When the rotor operating status detection program is executed by a processor, it implements the steps of the rotor operating status detection method as described in any one of the embodiments 1 to 3 above.

[0053] The computer-readable storage medium of this invention belongs to the same concept as the methods of Embodiments 1 to 3 above. The specific implementation process can be found in the corresponding method embodiments. The technical features in the method embodiments are also applicable to this computer-readable storage medium embodiment, and will not be repeated here.

[0054] The corresponding technical features in the above embodiments can be used in combination without causing contradictions or making the solutions unfeasible.

[0055] 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, method, 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, method, 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, method, article, or apparatus that includes that element.

[0056] 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.

[0057] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above 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 storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause an aircraft to execute the methods described in the various embodiments of the present invention.

[0058] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for detecting the working state of a rotor, characterized in that, The method includes: Obtain the current second rotational speed information of the motor corresponding to the rotor; If the second rotational speed corresponding to the second rotational speed information is within the first preset rotational speed range, then the current first rotational speed information of the rotor is obtained; Calculate the difference between the first rotational speed and the second rotational speed corresponding to the first rotational speed information; If the difference is within a preset first abnormal difference range, the rotor is determined to be in an abnormal working state, wherein the first abnormal difference range refers to the range of the difference between the first rotational speed and the second rotational speed when the rotor breaks. If the difference is not within the first abnormal difference range, then determine whether the second rotational speed is within the second preset rotational speed range; If the second rotational speed is within the second preset rotational speed range, the rotor working status detection process ends. If the second rotational speed is not within the second preset rotational speed range, then return to the step of obtaining the first rotational speed information; in, The first rotational speed information is obtained through a rotational speed sensor; The second rotational speed information is obtained from the drive unit of the motor; The first preset speed range refers to the risk of rotor breakage that is likely to occur when the second speed is within this range; The second preset speed range refers to the speed range within which the risk of rotor breakage is unlikely to occur. After determining that the rotor's operating state is abnormal, the method further includes: reporting the location information corresponding to the rotor with the abnormal operating state, and isolating the rotor with the abnormal operating state from the entire power system based on the location information.

2. A rotorcraft, characterized in that, The rotorcraft includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the rotor operating state detection method as described in claim 1.

3. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a rotor operating status detection program, which, when executed by a processor, implements the steps of the rotor operating status detection method as described in claim 1.

Images