Flight control method, flight control device, and multi-rotor unmanned aerial vehicle are provided. The vehicle includes a center frame, a carrier, arms, and a propulsion assembly on each arm. Each propulsion assembly includes a forward-rotating rotor, a counter-rotating rotor, a first driving device, and a second driving device. The method includes: determining a current attitude of the vehicle including a normal flight attitude with the carrier at a lower side of the center frame and an inverted flight attitude with the carrier at an upper side of the center frame; and adjusting vertical arrangement positions of the forward-rotating rotor and the counter-rotating rotor in the direction of the yaw axis according to the current attitude of the vehicle, such that the vertical arrangement positions of the forward-rotating rotor and the counter-rotating rotor remain unchanged, and each rotor maintains a state of pushing down airflow when the rotor rotates.
FLIGHT CONTROL METHOD AND DEVICE FOR MULTI-ROTOR UNMANNED AERIAL VEHICLE, AND MULTI-ROTOR UNMANNED AERIAL VEHICLE
2020-12-10
Patent
Elektronische Ressource
Englisch
Multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle system
Europäisches Patentamt | 2020
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