Control method and device of a gyroplane, gyroplane and storage medium

Abstract

This application provides one or more embodiments of a control method, apparatus, rotorcraft, and computer-readable storage medium for a rotorcraft. The rotorcraft includes a power motor, and the method includes: acquiring target rotational parameter information corresponding to the power motor when the rotorcraft is in a target flight state; controlling the rotorcraft to be in the target flight state and acquiring actual rotational parameter information of the power motor; and determining the installation orientation information of the power motor based on the difference between the actual rotational parameter information and the target rotational parameter information. This embodiment can determine the installation orientation information of the power motor through the above method, and can control the safe movement of the rotorcraft.

Description

Technical Field

[0001] This application relates to the field of rotorcraft technology, and more specifically, to a control method, apparatus, rotorcraft, and computer-readable storage medium for a rotorcraft. Background Technology

[0002] Rotary-wing drones include a power motor that drives propellers to rotate. Through the cooperation of multiple propellers, the aircraft can achieve pitch, roll, and yaw movements. Whether the power motor is functioning properly affects the safe operation of the rotary-wing aircraft. Therefore, how to control the safe operation of rotary-wing aircraft has always been a technical issue of concern in this field. Summary of the Invention

[0003] In view of this, this application provides a control method, device, rotorcraft, and computer-readable storage medium for a rotorcraft, which can solve the technical problem of being unable to control the safe movement of a rotorcraft in the related art.

[0004] In a first aspect, a control method for a rotorcraft is provided, the rotorcraft including a power motor, the method comprising:

[0005] Obtain the target rotation parameter information of the power motor corresponding to the rotorcraft being in the target flight state;

[0006] Control the rotorcraft to be in the target flight state and obtain the actual rotation parameter information of the power motor;

[0007] Based on the difference between the actual rotation parameter information and the target rotation parameter information, the installation position information of the power motor is determined.

[0008] In a second aspect, a control device for a rotorcraft is provided, the rotorcraft including a power motor, the device including a processor, a memory, and a computer program stored in the memory that can be executed by the processor, wherein the processor executes the computer program to implement the control method for the rotorcraft described in the first aspect.

[0009] Thirdly, a rotorcraft is provided, the rotorcraft including a power motor, a processor, a memory, and a computer program stored in the memory that can be executed by the processor, wherein the processor executes the computer program to implement the rotorcraft control method described in the first aspect.

[0010] Fourthly, a computer-readable storage medium is provided, wherein a plurality of computer instructions are stored on the computer-readable storage medium, and when the computer instructions are executed, the control method for the rotorcraft described in the first aspect is implemented.

[0011] By applying the solution provided in this application, and controlling the rotorcraft to be in a target flight state, the actual rotational parameter information of the power motor can be obtained. Based on the target rotational parameter information of the power motor corresponding to the target flight state, the installation attitude information of the motor can be determined. This embodiment controls the rotorcraft to be in a target flight state and detects the installation attitude information of the power motor, ensuring the rotorcraft's controllability. Because the installation attitude information of the power motor can be detected by comparing the actual rotational parameter information and the target rotational parameter information, it is possible to detect whether there are any problems with the installation tilt angle of the power motor, thus ensuring the safe control of the rotorcraft. Attached Figure Description

[0012] Figure 1A This is a schematic architecture diagram of an unmanned aerial system shown in an exemplary embodiment of this application.

[0013] Figure 1B This is a schematic diagram of the structure of a quadcopter aircraft shown in an exemplary embodiment of this application.

[0014] Figure 1C This is a schematic diagram illustrating a rotorcraft performing a yaw maneuver, as shown in an exemplary embodiment of this application.

[0015] Figure 2A This is a flowchart illustrating a control method for a rotorcraft according to an exemplary embodiment of this application.

[0016] Figure 2B This is a schematic diagram illustrating a communication connection between a rotorcraft and a user terminal, as shown in an exemplary embodiment of this application.

[0017] Figure 2C This is a schematic diagram illustrating an exemplary embodiment of the present application of an output prompt message.

[0018] Figure 3 This is a schematic diagram of the structure of a control device for a rotary-wing aircraft, as illustrated in an exemplary embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the structure of a rotorcraft shown in an exemplary embodiment of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0021] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0022] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0023] Figure 1A This is a schematic architecture diagram of an unmanned aerial vehicle (UAV) system according to an embodiment of this application. The UAV system 100 may include a UAV 110, a display device 130, and a remote control device 140. The UAV 110 may include a power system 150, a flight control system 160 (hereinafter referred to as flight controller), a frame, and a gimbal 120 mounted on the frame; the UAV 110 may include a rotary-wing UAV. The UAV 110 can wirelessly communicate with the remote control device 140 and the display device 130.

[0024] The frame may include a fuselage and landing gear (also known as landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, with the arms extending radially from the center frame. The landing gear is connected to the fuselage and serves to provide support when the UAV 110 lands.

[0025] The power system 150 may include one or more electronic speed controllers (ESCs) 151, one or more propellers 153, and one or more drive motors 152 corresponding to the propellers 153. The drive motors 152 are connected between the ESCs 151 and the propellers 153. The drive motors 152 and propellers 153 may be mounted on the arms of the UAV 110, for example, at the end of the arm furthest from the fuselage. The ESCs 151 receive drive signals generated by the flight control system 160 and provide drive current to the drive motors 152 according to the drive signals to control the rotational speed of the drive motors 152. The drive motors 152 drive the propellers to rotate, thereby providing power for the flight of the UAV 110, enabling the UAV 110 to achieve one or more degrees of freedom of movement. In some embodiments, the UAV 110 may rotate about one or more rotation axes. For example, the rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motors 152 may be DC motors or AC motors. In addition, motor 152 can be either a brushless motor or a brushed motor.

[0026] The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the UAV, i.e., the position and state information of the UAV 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may also collect positioning information or information about objects in the space where the UAV is located, such as depth information or thermal information. The sensing system 162 may include at least one of the following sensors: a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a thermal imager, a global navigation satellite system (GPS), and a barometer. For example, the GPS may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the UAV 110, for example, it can control the flight of the UAV 110 based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed instructions, or it can control the drone 110 in response to one or more remote control signals from the remote control device 140.

[0027] The gimbal 120 may include a motor 122. The gimbal is used to carry various devices, such as a shooting device 123. The flight controller 161 can control the movement of the gimbal 120 via the motor 122. Optionally, as another embodiment, the gimbal 120 may also include a controller for controlling the movement of the gimbal 120 by controlling the motor 122. It should be understood that the gimbal 120 may be independent of the drone 110 or may be part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. Additionally, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the gimbal may be located at the top or bottom of the drone.

[0028] The shooting device 123 may be a camera or video camera, or other device for capturing images. The shooting device 123 can communicate with the flight controller and perform shooting under the control of the flight controller. In this embodiment, the shooting device 123 includes at least a photosensitive element, such as a complementary metal-oxide-semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It is understood that the shooting device 123 can also be directly fixed to the drone 110, thus the gimbal 120 can be omitted.

[0029] The display device 130 is located on the ground end of the unmanned aerial vehicle system 100. It can communicate wirelessly with the drone 110 and can be used to display the attitude information of the drone 110. In addition, images captured by the imaging device 123 can also be displayed on the display device 130. It should be understood that the display device 130 can be a standalone device or integrated into the remote control device 140.

[0030] The remote control device 140 is located on the ground end of the unmanned flight system 100 and can communicate with the drone 110 wirelessly to remotely control the drone 110.

[0031] It should be understood that the naming of the components of the unmanned aerial system described above is for identification purposes only and should not be construed as a limitation on the embodiments of this application.

[0032] The rotorcraft in this embodiment can include multi-rotor drones, such as dual-rotor, quadcopter, hexacopter, octocopter, etc. Typically, one motor drives one propeller to rotate, and the cooperation of multiple propellers can achieve the aircraft's pitch, roll, and yaw movements.

[0033] In some examples, the rotorcraft includes a fuselage. In some rotorcraft, the power motor is connected to the fuselage via a servo motor, allowing relative movement between the power motor and the fuselage through the movement of the servo motor. In other examples, the power motor is fixedly connected to the fuselage. For example, the power motor is mounted on an arm, which is fixedly connected to the fuselage. The arm and fuselage can be either fixedly connected or movably connected. A movably connected arm means that when the rotorcraft is not in operation, the arm can be folded, but during flight, the arm extends, and the position of the power motor relative to the fuselage remains fixed.

[0034] As an example, consider a quadcopter, such as Figure 1B The diagram shown is a structural schematic of a quadcopter aircraft according to an exemplary embodiment of this application. Figure 1B It includes four motors (motor 1521, motor 1522, motor 1523, and motor 1524), each connected to a propeller; for example, motor 1521 drives propeller 15211. The flight control system 160 can control the motor rotation via electronic speed controllers, which in turn drive the propellers. Through the coordination of multiple propellers, the aircraft can perform pitch, roll, and yaw maneuvers. Specifically, the speed of the four motors can be adjusted to change the propeller speed, thereby changing the lift and controlling the aircraft's attitude and position.

[0035] For example, while the propellers driven by motor 1521 and motor 1523 rotate counterclockwise, the propellers driven by motor 1522 and motor 1524 rotate clockwise. Therefore, when the aircraft is flying in balance, the gyroscopic effect and the aerodynamic torque effect are canceled out.

[0036] During propeller rotation, air resistance generates a counter-torque in the opposite direction of rotation. To overcome this counter-torque, two of the four propellers rotate clockwise and two counter-clockwise, with the diagonal rotors rotating in the same direction. The magnitude of the counter-torque depends on the propeller speed. If all four propellers rotate at the same speed, their counter-torques balance each other, and the quadcopter does not rotate. However, if the four propellers rotate at different speeds, the unbalanced counter-torques will cause the quadcopter to rotate.

[0037] Taking the yaw maneuver of an aircraft as an example, such as Figure 1C As shown, the propellers driven by motor 1521 and motor 1523 rotate counterclockwise, while the propellers driven by motor 1522 and motor 1524 rotate clockwise. Movement along the positive x-axis is defined as forward movement. An arrow above the propeller's motion plane indicates that the propeller's speed is increasing, while an arrow below it indicates that the propeller's speed is decreasing.

[0038] When the speeds of the propellers driven by motors 1521 and 1523 increase, and the speeds of the propellers driven by motors 1522 and 1524 decrease, the counter-torque of the propellers driven by motors 1521 and 1523 on the fuselage is greater than the counter-torque of the propellers driven by motors 1522 and 1524 on the fuselage. Under the action of the excess counter-torque, the fuselage rotates around the z-axis, achieving the aircraft's yaw motion. The direction of the yaw is opposite to the direction of the propellers driven by motors 1521 and 1523.

[0039] Therefore, in the flight control of rotary-wing aircraft, it is necessary to accurately control the rotational speed of each propeller so that the aircraft can accurately perform various expected actions through the coordinated rotation of each propeller. Since the propellers are driven by electric motors, the prerequisite for accurately controlling the rotational speed of each propeller is that the rotational speed of each electric motor must also be accurately controlled.

[0040] In some rotorcraft, the motors are mounted perpendicular to the fuselage plane, allowing full utilization of the thrust provided by each motor. For other reasons, such as improving yaw sensitivity and motor failure control, in other rotorcraft, the motors are mounted at an angle; that is, the motors are not mounted perpendicular to the fuselage plane. For example, the angle between the motor's plane of rotation and the horizontal plane is not zero. This angled mounting can be present in some motors or in all motors of the rotorcraft. This angled design provides directional control torque for the aircraft.

[0041] For motors with a preset installation tilt angle, the relationship between the rotorcraft's thrust and the installation tilt angle can be determined in advance based on the stable balance conditions of the rotorcraft in the air. This establishes the relationship between the installation tilt angle of each motor and its rotational parameters. The relationship between the motor's safe tilt angle and its rotational parameters can be used for the rotorcraft's flight control.

[0042] Before leaving the factory, the motors in a rotorcraft are installed according to the designed installation angle during the manufacturing phase. However, during factory installation, due to factors such as process errors, the accuracy of the angle measuring instrument, and the skill level of the production personnel, the actual tilt angle of the motors in the rotorcraft may not meet the requirements and will have a certain error compared to the ideal design tilt angle. In addition, after the rotorcraft leaves the factory, with the increase in usage time, factors such as hardware deformation, collisions, or after-sales maintenance can all cause the actual tilt angle of the motors in the rotorcraft to deviate from the ideal installation tilt angle.

[0043] Furthermore, rotorcraft contain multiple motors, each of which may exhibit different deviations, significantly complicating their control. Additionally, large deviations in motor tilt angle may necessitate controlling the motors to operate at higher speeds. Sustained high speeds increase energy consumption, potentially leading to dangerous overheating and spontaneous combustion of the motors and ESCs. Particularly noteworthy is the reduced power margin and thrust-to-weight ratio of rotorcraft when battery power is low, making it more susceptible to single-axis motor saturation, resulting in loss of directional control and even dangerous spin-over accidents.

[0044] Based on this, in order to ensure the safety of rotorcraft, this embodiment provides a control method for rotorcraft. This embodiment considers the safety control of the aircraft from the perspective of the installation of the power motor in the rotorcraft.

[0045] In some cases, as mentioned above, if the actual tilt angle of the motor does not deviate and is basically consistent with the preset installation tilt angle, then when the rotorcraft controls the operation of the motor, based on the aforementioned relationship between the motor's installation tilt angle and its rotational parameters, after the rotorcraft outputs a control command for the rotational parameters, the actual rotational parameters of the motor should also be consistent with the rotational parameters that the rotorcraft expects to control. Therefore, the rotorcraft can output a control command to the motor, which contains the rotorcraft's target rotational parameter information for the motor. After outputting this control command, the actual rotational parameter information of the motor can be obtained. By comparing the target rotational parameter information and the actual rotational parameter information, the installation attitude information of the motor can be determined, i.e., whether there is a deviation from the preset installation tilt angle.

[0046] The above method may still have safety issues. After the rotorcraft outputs control commands, the actual tilt angle of the motor may deviate significantly, leading to a large deviation in the actual rotation parameters of the motor. Consequently, the rotation of the propeller driven by the motor may also deviate significantly, potentially causing the rotorcraft to be in an uncontrollable state and compromising its safe control. Therefore, in other examples, by controlling the rotorcraft to a target flight state, the actual rotation parameters of the motor can be obtained. Based on the target rotation parameters of the motor corresponding to the target flight state, the motor's installation orientation information can be determined. Since this scheme controls the rotorcraft to execute within the target flight state, that is, by ensuring the rotorcraft is under control while detecting the installation orientation information of the motor, safe control of the rotorcraft can be guaranteed. The following is a detailed description of this embodiment.

[0047] like Figure 2A The diagram shown is a flowchart of a control method for a rotorcraft according to this embodiment. The method includes:

[0048] In step 202, the target rotation parameter information of the power motor corresponding to the rotorcraft being in the target flight state is obtained.

[0049] In step 204, the rotorcraft is controlled to be in the target flight state, and the actual rotation parameter information of the power motor is obtained.

[0050] In step 206, the installation position information of the power motor is determined based on the difference between the actual rotation parameter information and the target rotation parameter information.

[0051] In this embodiment, the installation position information of the power motor is determined when the rotorcraft is in the target flight state. The control objective of the flight control system is to control the aircraft to be in the target flight state, thus ensuring that the aircraft is controllable. Specifically, controlling the aircraft to be in the target flight state can be achieved by the flight control system issuing a control command based on the target flight state. This control command controls the motor to rotate with the target rotation parameters. The rotation of the motor drives the propeller to rotate, and the rotation of each propeller causes the aircraft to move.

[0052] If the installation angles of all motors in the aircraft are within tolerance, the aircraft will enter the target flight state after the flight controller issues control commands based on the target flight state. However, if any motors in the aircraft have misaligned installation angles, the aircraft will not enter the target flight state after issuing control commands. In this case, the flight controller can obtain the aircraft's attitude information through sensors, determine the actual flight state, and, based on the difference between the actual and target flight states, issue control commands again to drive the propellers and adjust the aircraft from the actual flight state to the target flight state. Because of the presence of motors with misaligned installation angles, this adjustment process may need to be repeated multiple times.

[0053] Therefore, in this embodiment, after controlling the rotorcraft to be in the target flight state, the actual rotation parameter information of the power motor can be obtained. Based on the difference between the actual rotation parameter information and the target rotation parameter information, the installation position information of the power motor can be determined.

[0054] The execution timing of this embodiment can be set as needed in practical applications. For example, it can be executed before the rotorcraft begins its task or after the task ends. For instance, a trigger command can be generated upon detecting the start or end of a task to trigger the execution of this embodiment. Alternatively, the rotorcraft can execute the task based on a preset task or under user control, upon detecting that it is in a target flight state. It can also execute after receiving a trigger command from the user. This trigger command could be generated after the rotorcraft detects that certain physical buttons on the aircraft have been triggered, such as the power button. The trigger command can be generated every time the power button is triggered, or it can be generated at a set period. It can also be triggered by receiving a trigger command sent by a control device connected to the rotorcraft. Alternatively, the execution timing of this embodiment can be determined by combining other detection methods. For example, the rotorcraft can only execute the task if it detects that it is in a safe environment. For instance, environmental observation data of the rotorcraft can be collected through visual sensors, lidar, or ranging sensors. The environmental observation data can be used to detect that the rotorcraft is in a safe environment, such as an open scene. Specifically, the depth information of objects in the surrounding environment can be detected to be greater than or equal to a set threshold.

[0055] The target rotation parameter information of the power motor corresponding to the rotorcraft in the target flight state in this embodiment can be obtained in a variety of ways. For example, it can be the target rotation parameter information of the power motor at a preset installation tilt angle; or it can be that it is not preset, but the target rotation parameter information can be determined according to the flight state during the control of the rotorcraft, that is, the expected rotation parameter information of the motor when the rotorcraft is in the target flight state, etc.

[0056] The actual rotational parameter information of the power motor in this embodiment can be obtained in various ways. For example, the power motor can be connected to an electronic speed controller (ESC), which can acquire the actual rotational parameters of the power motor and send them to the flight control system. Alternatively, the power motor can be equipped with a sensor, such as an angle sensor, to obtain the rotational angle of the power motor. The ESC or flight control system can connect to the angle sensor and acquire the actual rotational angle of the power motor, and based on the actual rotational angle, the actual rotational parameter information can be obtained. Optionally, the rotational parameter information refers to one or more pieces of information describing the rotational state of the power motor, such as speed information, rotational direction information, rotational angle information, or rotational frequency information, etc.

[0057] The installation orientation information of the power motor in this embodiment characterizes the installation state of the power motor on the rotorcraft. For example, this installation orientation information may include the installation tilt angle of the power motor, which can be the angle between the rotation plane of the power motor and the horizontal plane. Of course, it is also optional to use other coordinate systems to describe the installation tilt angle of the power motor, such as the rotorcraft fuselage plane, the plane of the arm on which the power motor is installed, etc. Alternatively, it is also optional to use other information to characterize the installation orientation information of the power motor, such as the angle between the axis passing through the center of the power motor rotor and the plane of the arm on which the power motor is located; or the angle between the axis passing through the center of the power motor rotor and the plane of the rotorcraft fuselage, etc. This embodiment does not limit this.

[0058] The target flight state in this embodiment can include any flight state, which can be set as needed in practical applications. For example, the target flight state can be a flight state that ensures the safety of the rotorcraft, such as a state with a relatively slow flight speed, or a flight direction with no obstacles in front. Alternatively, it can also include a hovering state. The target flight state can be automatically determined by the rotorcraft, set by the user, or preset.

[0059] Taking the hovering state as an example, in the hovering state, the rotorcraft can be fixed at a preset height and horizontal position, that is, the change in position of the rotorcraft in space meets the preset position conditions and / or the change in attitude of the rotorcraft meets the preset attitude conditions. Therefore, controlling the aircraft to be in the hovering state to determine the installation position and attitude information of the power motor can better ensure the safety of the rotorcraft.

[0060] In some examples, the rotorcraft's position information in space includes the amount of change in the rotorcraft's position in space, which may include the change in the drone's altitude position and / or the change in its horizontal position. Correspondingly, the preset position conditions may include the change in the drone's altitude position being less than a preset altitude change threshold, and / or the preset position conditions may include the change in the drone's horizontal position being less than a preset horizontal change threshold.

[0061] In some examples, the attitude information of a rotorcraft can include attitude angle information relative to the three coordinate axes using a body coordinate system. This body coordinate system can be a three-dimensional orthogonal Cartesian coordinate system fixed to the aircraft and following the right-hand rule. Its origin is located on the aircraft or at its center of mass. The X-axis points in the direction of the UAV's nose forward, the Y-axis points from the origin to the right side of the aircraft, and the Z-axis direction is determined by the right-hand rule based on the X and Y axes. The angle of rotation around the X-axis is called the pitch angle; the angle of rotation around the Y-axis is called the yaw angle; and the angle of rotation around the Z-axis is called the roll angle. The attitude change of the rotorcraft can include changes in any of the above attitude angles. Optionally, in a hovering state, it can be a change in the yaw angle, i.e., a change in yaw. Based on this, the preset attitude condition can include: the change in yaw is less than a preset change threshold. In this way, during the process of controlling the rotorcraft to be in the target flight state, it is possible to quickly and accurately detect whether there is a deviation in the installation attitude of the power motor in the rotorcraft.

[0062] In some examples, a rotorcraft has multiple motors. To detect which motor's mounting orientation is deviated, for example, the rotorcraft includes at least three motors, and the rotational parameter information includes the rotational speed information of the at least three motors. In this embodiment, by comparing the rotational speed information of the at least three motors, the motor with the deviated mounting orientation can be determined based on the difference in the rotational speed information of the at least three motors, thereby determining the mounting orientation information of that motor.

[0063] As an example, the actual speed information of the at least three power motors can be compared to determine whether the speed of some power motors is too high or too low. For example, in some scenarios and under certain target flight conditions, the ideal speed of each power motor in the rotorcraft is basically the same. Therefore, if the actual speed information of the at least three power motors is inconsistent, it can be determined that there is a problem with the safety tilt angle of the power motors in the rotorcraft.

[0064] In some examples, the at least three power motors include a first motor, and the determination of the mounting posture information includes:

[0065] The first installation posture information is determined when the actual rotational speed of the first motor is less than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is greater than a preset angle threshold; or,

[0066] The second installation posture information is determined when the actual rotational speed of the first motor is greater than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is less than a preset angle threshold.

[0067] In this embodiment, taking the first motor as an example, which has a problem with its mounting angle in a rotorcraft, if the mounting angle of the first motor is too large, its speed will be lower than that of the other motors in the hovering state; if the mounting angle of the first motor is too small, its speed will be higher than that of the other motors in the hovering state. Therefore, this embodiment can determine that the first motor has a problem with its mounting angle by comparing the actual speed information of the at least three motors.

[0068] Problems may arise from excessively large or small installation tilt angles. In the case of an excessively large installation tilt angle, first installation pose information can be determined. This first installation pose information indicates that the angle between the rotation plane of the first motor and the horizontal plane is greater than a preset angle threshold. For example, the rotation plane of the first motor refers to the rotation plane of the motor rotor. The first motor has an installation tilt angle, meaning that the rotation plane of the first motor forms an angle with the horizontal plane. If the installation tilt angle of the first motor is too large, i.e., the angle between the rotation plane of the first motor and the horizontal plane is greater than the preset angle threshold, it is necessary to control the first motor to have a lower rotational speed to ensure that the propellers driven by the various power motors in the rotorcraft rotate at the same speed. Similarly, in the case of an excessively small installation tilt angle, the angle between the rotation plane of the first motor and the horizontal plane is less than the preset angle threshold. It is necessary to control the first motor to have a higher rotational speed, where the actual rotational speed of the first motor is greater than the actual rotational speed information of the other motors, to ensure that the propellers driven by the various power motors in the rotorcraft rotate at the same speed.

[0069] If the rotorcraft detects a deviation in the installation tilt angle of the power motor, in some scenarios, to ensure the safety of the rotorcraft, the method of this embodiment may further include: controlling the rotorcraft to fly to a designated position and then stopping flight based on the installation attitude information. Therefore, this control can ensure the safety of the rotorcraft even if a deviation in the tilt angle of the power motor is detected. For example, the designated position may include the user's location. For instance, during operation or under user control, after the rotorcraft detects the installation attitude information of the power motor by executing the above scheme, it can be controlled to fly to the user's location. The user's location may be the rotorcraft's starting point or the user's location information determined by the rotorcraft through detection. In other examples, the designated position may also be the rotorcraft's starting point or other locations, such as the rotorcraft using environmental observation information or landing on the ground. There are various implementation methods based on the actual scenario, and this embodiment does not limit this. The rotorcraft can be controlled to fly based on its installation position information. For example, if the deviation of the safe tilt angle of the power motor is large by using the safe position information, the rotorcraft can be controlled to fly at a lower speed to prevent excessive control force from being applied to the problematic power motor. This ensures the safety of the rotorcraft and allows it to fly to a safe position.

[0070] In some examples, to alert the user, the method may further include: outputting a prompt message generated based on the installation posture information, which can draw the user's attention to the installation position information of the power motor. The execution order of the above-mentioned process of outputting the prompt message and the aforementioned process of controlling the rotorcraft to fly to a designated position and then stop flying based on the installation posture information is not limited and can be flexibly configured as needed; for example, they can be executed sequentially or simultaneously.

[0071] In some examples, the prompt information can be output in multiple ways, such as being output by a user terminal connected to the rotorcraft, and / or being output by the rotorcraft itself. The user terminal connected to the rotorcraft can be any device, such as a remote control, smartphone, or wearable device.

[0072] For example, such as Figure 2BThe diagram illustrates a rotorcraft 110 and a user terminal connected to the rotorcraft 110. In this embodiment, the user terminal is described using a remote controller 210 and a smartphone 220 as examples. The remote controller 210 includes a display, which can be detachably connected to the remote controller, or the display can be fixedly mounted on the remote controller. Examples of communication types between the user terminal and the rotorcraft include, but are not limited to, communication via the Internet, Local Area Network (LAN), Wide Area Network (WAN), Bluetooth, Near Field Communication (NFC) technology, networks based on mobile data protocols such as General Packet Radio Service (GPRS), GSM, Enhanced Data GSM Environment (EDGE), 3G, 4G, or Long Term Evolution (LTE) protocols, infrared (IR) communication technology, and / or WiFi, and can be wireless, wired, or a combination thereof.

[0073] The prompts can be implemented in various ways, such as image information, text information, video information, voice information, or light information. Correspondingly, the output of the prompts can be implemented in various ways, such as displaying images, text, or videos in the user interface, or playing voice information by controlling the playback component, or controlling the lighting component to display light information, etc.

[0074] For example, the user terminal displays a model display area of ​​the rotorcraft. This model display area includes pixel areas for identifying the rotorcraft fuselage and pixel areas for identifying the power motors. The prompting information is displayed in association with the pixel areas of the power motors. As another example, the user terminal includes a display screen, a portion of which is used to display the rotorcraft model, i.e., the rotorcraft model display area. This rotorcraft model can be an image of the rotorcraft or a pre-built rotorcraft model; a two-dimensional or three-dimensional model is optional. This model display area shows the rotorcraft fuselage and one or more power motors. The displayed prompting information is associated with the power motors; for example, the prompting information can be displayed close to the power motors, etc. Based on this, the user terminal can clearly display power motors with misaligned installation angles, allowing the user to understand the installation position information of the rotorcraft's power motors through the content displayed on the user terminal. For example, prompts can be provided for power motors with misaligned installation positions.

[0075] like Figure 2C The image shown is a schematic diagram of an output prompt message in this embodiment. Figure 2C Taking a smartphone as an example, the smartphone screen displays a model display area of ​​a rotorcraft, including a pixel area 2221 for identifying the fuselage of the rotorcraft, i.e. Figure 2CThe region 2221, represented by the dashed box, also includes a pixel region 2222 for identifying the power motor, i.e. Figure 2C The region represented by the dashed box is 2222; this is understandable. Figure 2C The dashed box indicates the pixel areas that identify the rotorcraft fuselage and the motor, and is not the content displayed on the smartphone screen. The prompt message uses the text "Dear user, there is a problem with the motor's tilt angle; please adjust it promptly," along with a dialog box containing this text. This dialog box points to the motor, meaning the prompt message is displayed in association with the pixel area identifying the motor. This method clearly alerts the user to the problematic motor.

[0076] In some examples, the prompts displayed on the user terminal include: speed prompts generated based on the actual rotation parameters, and / or prompts guiding the user to adjust the installation angle of the motor to a target angle. For example, the speed prompts indicate the actual rotation parameters of the motor, allowing the user to identify speed problems caused by tilt angle deflection. Alternatively, the prompts may guide the user to adjust the installation angle of the motor to a target angle, which is the ideal installation angle for the motor, allowing the user to adjust the motor to the target angle.

[0077] In some examples, the prompting information can also be output by the rotorcraft, and the output, generated based on the installation pose information, includes:

[0078] The control system outputs a prompt message generated based on the installation orientation information from a target component on the rotorcraft. The target component includes any one of the following: the power motor, or a prompt device mounted on the arm where the power motor is located. Therefore, if the rotorcraft detects a large tilt deviation in a certain power motor, the prompt message output by the aforementioned target component allows the user to clearly identify the power motor with the large tilt deviation.

[0079] In some examples, the control of the target component on the rotorcraft outputs a prompt message generated based on the installation pose information, including any of the following:

[0080] Control the vibration of the power motor to produce sound;

[0081] Control the propeller connected to the power motor to rotate at a preset angle;

[0082] Control the output of sound and / or light information by the prompter.

[0083] For example, the flight controller controls the motor rotation via an electronic speed controller (ESC), which in turn drives the propeller. When the motor drives the propeller at a large rotation angle, the force exerted by the propeller blades to push the air backward is greater, and it is simultaneously propelled by the air's reaction force, causing the rotorcraft to move. In this embodiment, controlling the propeller rotation angle connected to the power motor can be performed after the rotorcraft has stopped moving. Furthermore, the preset rotation angle can be controlled to be within the range that prevents the rotorcraft from moving. Therefore, a smaller propeller rotation angle results in a smaller force pushing the air, preventing the rotorcraft from moving. Thus, the user can see one or more power motors rotating in the rotorcraft; these rotating power motors are those with a slight tilt deviation. The smaller propeller rotation angle, which is also the smaller rotation angle of the power motor, causes the power motor to repeatedly rotate at small angles, resulting in rotor vibration. This vibration produces sound, which the user can hear. Therefore, the above embodiment achieves both the purpose of alerting the user and ensuring the safety of the rotorcraft.

[0084] For example, each arm of a rotorcraft is equipped with a prompter. The prompt information can be output by the prompter located on the arm where the power motor is located. The prompter may include a sound-emitting component and / or a light-emitting component. The sound-emitting component can emit sound, and the light-emitting component can emit light, so that the user can see the power motor whose installation tilt angle is deviated.

[0085] The following example will illustrate the point.

[0086] In this embodiment, the rotorcraft is connected to the user terminal for communication. After takeoff, the ESC in the power system can obtain the motor speed information, and the flight controller can obtain the aircraft's yaw torque (fix_torsion) and send it to the user terminal for display. At the same time, the flight controller can detect whether the aircraft is in a level hovering state.

[0087] In a horizontal hovering state, the magnitude of the aircraft's yawing torque (fix_torsion) can be determined. Since the aircraft has multiple propellers, the yawing torque (fix_torsion) generated by each propeller can be measured during hovering. Optionally, after normalization, if the deviation of the aircraft's yawing torque (fix_torsion) is less than a preset deviation value, the motors in the aircraft can be considered correctly positioned. If it is greater than the preset deviation value, it can be determined that one or more arms have an angle installation error. If the installation angle is too small, the speed of the motor will be higher than other motors in the hovering state; if the installation angle is too large, the speed of the motor will be lower than other motors in the hovering state. Based on the motor speed, a problem can be located in the installation of a specific axis motor.

[0088] Based on this, by obtaining the speed information of each motor, the problematic motor can be identified, and the problematic motor and its speed information or installation angle information can be sent to the user terminal so that the user terminal can prompt the user and guide the user to adjust the installation angle of the motor.

[0089] As can be seen from the above embodiments, this embodiment can perform motor testing on a rotorcraft while it is hovering. It determines whether the motor installation is abnormal by using the yaw torque (fix_torsion), and can also pinpoint the specific motor causing the problem by combining the actual rotational speed information of each axis motor. This solves the long-standing problem in the rotorcraft field of ensuring and testing consistent motor installation tilt. For some high-load rotorcraft, incorrect installation tilt angles under low battery and high load conditions can easily cause power saturation and excessively rapid motor overheating. This embodiment can effectively detect such problems, promptly alert the user, and guide the correction of the motor tilt angle, effectively preventing accidents such as motor spontaneous combustion or rotor explosion.

[0090] Corresponding to the aforementioned embodiments of the control method for rotorcraft, this application also provides embodiments of a control device for rotorcraft.

[0091] Please refer to Figure 3 The control device 300 of the rotorcraft includes a processor 301, a memory 302, and a computer program stored in the memory that can be executed by the processor. When the processor executes the computer program, it implements the following method:

[0092] Obtain the target rotation parameter information of the power motor corresponding to the rotorcraft being in the target flight state;

[0093] Control the rotorcraft to be in the target flight state and obtain the actual rotation parameter information of the power motor;

[0094] Based on the difference between the actual rotation parameter information and the target rotation parameter information, the installation position information of the power motor is determined.

[0095] In some instances, the target flight state includes: hovering.

[0096] In some examples, during the hovering state, the change in position of the rotorcraft in space satisfies preset position conditions and / or the change in attitude of the rotorcraft satisfies preset attitude conditions.

[0097] In some examples, the preset attitude condition includes: the change in heading deflection is less than a preset change threshold.

[0098] In some examples, the rotorcraft includes at least three power motors, and the rotational parameter information includes the rotational speed information of the at least three power motors.

[0099] In some examples, the at least three power motors include a first motor, and the processor executes the determination of the mounting pose information, including:

[0100] The first installation posture information is determined when the actual rotational speed of the first motor is less than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is greater than a preset angle threshold; or,

[0101] The second installation posture information is determined when the actual rotational speed of the first motor is greater than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is less than a preset angle threshold.

[0102] In some examples, the processor also performs:

[0103] Output a prompt message generated based on the installation pose information.

[0104] In some instances, the notification message is output by a user terminal communicating with the rotorcraft, and / or by the rotorcraft itself.

[0105] In some examples, the user terminal displays a model display area of ​​the rotorcraft, which includes a pixel area for identifying the rotorcraft fuselage and a pixel area for identifying the power motor, and the prompt information is displayed in association with the pixel area of ​​the power motor.

[0106] In some examples, the processor executes the prompts displayed on the user terminal, including: speed prompts generated based on the actual rotation parameter information, and / or prompts instructing the user to adjust the installation angle of the power motor to the target angle.

[0107] In some examples, the processor executes the output of a prompt message generated based on the installation pose information, including:

[0108] The target component on the rotorcraft is controlled to output a prompting message generated based on the installation posture information; the target component includes any of the following: the power motor, or a prompter mounted on the arm where the power motor is located.

[0109] In some examples, the processor executes the control of the target component on the rotorcraft to output a prompt message generated based on the installation pose information, including any of the following:

[0110] Control the vibration of the power motor to produce sound;

[0111] Control the propeller connected to the power motor to rotate at a preset angle;

[0112] Control the output of sound and / or light information by the prompter.

[0113] In some examples, the processor also performs:

[0114] Based on the installation posture information, the rotorcraft is controlled to fly to a designated position and then stop flying.

[0115] In some examples, the power motor is fixedly connected to the fuselage of the rotorcraft.

[0116] The specific implementation process of the functions and roles of each unit in the control device of the aforementioned rotorcraft can be found in the implementation process of the corresponding steps in the control method of the aforementioned rotorcraft, and will not be repeated here.

[0117] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0118] The embodiments of the control device for a rotorcraft described in this application can be applied to rotorcraft, which includes a power motor. The device embodiments can be implemented through software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by the processor controlling the rotorcraft loading the corresponding computer program instructions from non-volatile memory into memory for execution. From a hardware perspective, the control device for the rotorcraft described in this application may include a processor, memory, a network interface, and non-volatile memory, etc. The rotorcraft in which the device is located in the embodiments may also include other hardware depending on the actual functions of the rotorcraft, which will not be elaborated further.

[0119] like Figure 4As shown, this embodiment also provides a rotorcraft 400, which includes a power motor 403, a processor 401, a memory 403, and a computer program stored in the memory that can be executed by the processor. When the processor executes the computer program, it implements the following:

[0120] Obtain the target rotation parameter information of the power motor corresponding to the rotorcraft being in the target flight state;

[0121] Control the rotorcraft to be in the target flight state and obtain the actual rotation parameter information of the power motor;

[0122] Based on the difference between the actual rotation parameter information and the target rotation parameter information, the installation position information of the power motor is determined.

[0123] In some instances, the target flight state includes: hovering.

[0124] In some examples, during the hovering state, the change in position of the rotorcraft in space satisfies preset position conditions and / or the change in attitude of the rotorcraft satisfies preset attitude conditions.

[0125] In some examples, the preset attitude condition includes: the change in heading deflection is less than a preset change threshold.

[0126] In some examples, the rotorcraft includes at least three power motors, and the rotational parameter information includes the rotational speed information of the at least three power motors.

[0127] In some examples, the at least three power motors include a first motor, and the processor executes the determination of the mounting pose information, including:

[0128] The first installation posture information is determined when the actual rotational speed of the first motor is less than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is greater than a preset angle threshold; or,

[0129] The second installation posture information is determined when the actual rotational speed of the first motor is greater than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is less than a preset angle threshold.

[0130] In some examples, the processor also performs:

[0131] Output a prompt message generated based on the installation pose information.

[0132] In some instances, the notification message is output by a user terminal communicating with the rotorcraft, and / or by the rotorcraft itself.

[0133] In some examples, the user terminal displays a model display area of ​​the rotorcraft, which includes a pixel area for identifying the rotorcraft fuselage and a pixel area for identifying the power motor, and the prompt information is displayed in association with the pixel area of ​​the power motor.

[0134] In some examples, the processor executes the prompts displayed on the user terminal, including: speed prompts generated based on the actual rotation parameter information, and / or prompts instructing the user to adjust the installation angle of the power motor to the target angle.

[0135] In some examples, the processor executes the output of a prompt message generated based on the installation pose information, including:

[0136] The target component on the rotorcraft is controlled to output a prompting message generated based on the installation posture information; the target component includes any of the following: the power motor, or a prompter mounted on the arm where the power motor is located.

[0137] In some examples, the processor executes the control of the target component on the rotorcraft to output a prompt message generated based on the installation pose information, including any of the following:

[0138] Control the vibration of the power motor to produce sound;

[0139] Control the propeller connected to the power motor to rotate at a preset angle;

[0140] Control the output of sound and / or light information by the prompter.

[0141] In some examples, the processor also performs:

[0142] Based on the installation posture information, the rotorcraft is controlled to fly to a designated position and then stop flying.

[0143] In some examples, the power motor is fixedly connected to the fuselage of the rotorcraft.

[0144] This embodiment also provides a computer-readable storage medium storing a plurality of computer instructions, which, when executed, implement the following method:

[0145] Obtain the target rotation parameter information of the power motor corresponding to the rotorcraft being in the target flight state;

[0146] Control the rotorcraft to be in the target flight state and obtain the actual rotation parameter information of the power motor;

[0147] Based on the difference between the actual rotation parameter information and the target rotation parameter information, the installation position information of the power motor is determined.

[0148] In some instances, the target flight state includes: hovering.

[0149] In some examples, during the hovering state, the change in position of the rotorcraft in space satisfies preset position conditions and / or the change in attitude of the rotorcraft satisfies preset attitude conditions.

[0150] In some examples, the preset attitude condition includes: the change in heading deflection is less than a preset change threshold.

[0151] In some examples, the rotorcraft includes at least three power motors, and the rotational parameter information includes the rotational speed information of the at least three power motors.

[0152] In some examples, the at least three power motors include a first motor, and the determination of the mounting posture information includes:

[0153] The first installation posture information is determined when the actual rotational speed of the first motor is less than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is greater than a preset angle threshold; or,

[0154] The second installation posture information is determined when the actual rotational speed of the first motor is greater than the actual rotational speed of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is less than a preset angle threshold.

[0155] In some examples, the method further includes:

[0156] Output a prompt message generated based on the installation pose information.

[0157] In some instances, the notification message is output by a user terminal communicating with the rotorcraft, and / or by the rotorcraft itself.

[0158] In some examples, the user terminal displays a model display area of ​​the rotorcraft, which includes a pixel area for identifying the rotorcraft fuselage and a pixel area for identifying the power motor, and the prompt information is displayed in association with the pixel area of ​​the power motor.

[0159] In some examples, the prompts displayed on the user terminal include: speed prompts generated based on the actual rotation parameters, and / or prompts instructing the user to adjust the installation angle of the power motor to the target angle.

[0160] In some examples, the output includes prompts generated based on the installation pose information, including:

[0161] The target component on the rotorcraft is controlled to output a prompting message generated based on the installation posture information; the target component includes any of the following: the power motor, or a prompter mounted on the arm where the power motor is located.

[0162] In some examples, the control of the target component on the rotorcraft outputs a prompt message generated based on the installation pose information, including any of the following:

[0163] Control the vibration of the power motor to produce sound;

[0164] Control the propeller connected to the power motor to rotate at a preset angle;

[0165] Control the output of sound and / or light information by the prompter.

[0166] In some examples, the method further includes:

[0167] Based on the installation posture information, the rotorcraft is controlled to fly to a designated position and then stop flying.

[0168] In some examples, the power motor is fixedly connected to the fuselage of the rotorcraft.

[0169] The embodiments of the subject matter and functional operation described in this specification can be implemented in the following ways: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0170] The processing and logic flow described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output. The processing and logic flow can also be executed by dedicated logic circuitry—such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the device can also be implemented as dedicated logic circuitry.

[0171] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0172] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0173] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0174] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0175] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0176] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method of a rotary-wing aircraft, characterized by, The rotorcraft includes a power motor, which is fixedly connected to the fuselage of the rotorcraft. The method includes: Obtain the target rotation parameter information of the power motor corresponding to the rotorcraft being in the target flight state; Control the rotorcraft to be in the target flight state and obtain the actual rotation parameter information of the power motor; Based on the difference between the actual rotation parameter information and the target rotation parameter information, the installation position information of the power motor is determined.

2. The method of claim 1, wherein, The target's flight state includes: hovering state.

3. The method according to claim 2, characterized in that, In the hovering state, the change in position of the rotorcraft in space satisfies a preset position condition and / or the change in attitude of the rotorcraft satisfies a preset attitude condition.

4. The method according to claim 3, characterized in that, The preset attitude conditions include: the change in heading deflection is less than a preset change threshold.

5. The method according to claim 1, characterized in that, The rotorcraft includes at least three power motors, and the rotation parameter information includes the rotational speed information of the at least three power motors.

6. The method according to claim 5, characterized in that, The at least three power motors include a first motor, and the determination of the installation position information includes: The first installation posture information is determined when the actual rotational speed of the first motor is less than that of other motors, and is used to characterize that the angle between the rotational plane of the first motor and the horizontal plane is greater than a preset angle threshold; or, The second installation posture information is determined when the actual speed information of the first motor is greater than the actual speed information of other motors. It is used to characterize that the angle between the rotation plane of the first motor and the horizontal plane is less than a preset angle threshold.

7. The method according to claim 1 or 6, characterized in that, The method further includes: Output a prompt message generated based on the installation pose information.

8. The method according to claim 7, characterized in that, The prompt message is output by the user terminal communicating with the rotorcraft, and / or by the rotorcraft itself.

9. The method according to claim 8, characterized in that, The user terminal displays a model display area of ​​the rotorcraft, which includes a pixel area for identifying the fuselage of the rotorcraft and a pixel area for identifying the power motor. The prompt information is displayed in association with the pixel area of ​​the power motor.

10. The method according to claim 8, characterized in that, The prompts displayed on the user terminal include: speed prompts generated based on the actual rotation parameters, and / or prompts guiding the user to adjust the installation angle of the power motor to the target angle.

11. The method according to claim 8, characterized in that, The output includes prompt information generated based on the installation pose information, including: The target component on the rotorcraft is controlled to output a prompting message generated based on the installation posture information; the target component includes any of the following: the power motor, or a prompter mounted on the arm where the power motor is located.

12. The method according to claim 11, characterized in that, The control of the target component on the rotorcraft to output a prompt message generated based on the installation orientation information includes any one of the following: Control the vibration of the power motor to produce sound; Control the propeller connected to the power motor to rotate at a preset angle; Control the output of sound and / or light information by the prompter.

13. The method according to claim 1, characterized in that, The method further includes: Based on the installation posture information, the rotorcraft is controlled to fly to a designated position and then stop flying.

14. The method according to claim 1, characterized in that, The power motor can change the rotational speed of the propeller connected to it, thereby changing the lift.

15. A control device for a rotary-wing aircraft, characterized in that, The rotorcraft includes a power motor, and the device includes a processor, a memory, and a computer program stored in the memory that can be executed by the processor. When the processor executes the computer program, it implements the method according to any one of claims 1 to 14.

16. A rotary-wing aircraft, characterized in that, The rotorcraft includes a power motor, a processor, a memory, and a computer program stored in the memory that can be executed by the processor. When the processor executes the computer program, it implements the method according to any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of computer instructions, which, when executed, implement the steps of the control method for any of the rotorcraft described in claims 1 to 14.

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