Method and device for controlling flight of UAV, and UAV

Patent metadata

Field	Value
Publication number	US-12522382-B2
Application number	US-202318336128-A
Country	US
Kind code	B2
Filing date	Jun 16, 2023
Priority date	Jun 17, 2022
Publication date	Jan 13, 2026
Grant date	Jan 13, 2026

Abstract

A method and device for controlling a flight of an unmanned aerial vehicle (UAV) is provided. The UAV includes a fuselage, two wings, two supporting arms, two rotor wing structures, two second power modules, two third power modules, two steering modules, a lifting module, an altitude sensor, and a speed sensor. The two wings are fixed to the fuselage, the supporting arms are fixed to the wings, the rotor wing structure includes a first power module and a driving module, the driving module of the rotor wing structure is fixed to the supporting arm, and the driving module is configured to drive the first power module to rotate such that the first power module switches between the level flight mode and the lifting mode.

First claim

The invention claimed is:

1 . A method for controlling a flight of an unmanned aerial vehicle (UAV), the UAV comprising a fuselage, two wings, two supporting arms, two rotor wing structures, two second power modules, two third power modules, two steering modules, a lifting module, an altitude sensor, and a speed sensor, wherein:
the two wings are respectively fixed to two sides of the fuselage, one of the supporting arms is fixed to one of the wings; the rotor wing structure comprises a first power module and a driving module connected to the first power module, the driving module of one of the rotor wing structures is fixed to one end of one of the supporting arms, and the driving module is configured to drive the first power module to rotate relative to the supporting arm, so that the first power module is switchable between a level flight mode and a lifting mode; one second power module is fixed to the other end of one supporting arm, the two third power modules are respectively fixed to a head and a tail of the fuselage, one steering module is respectively provided on one wing, and the lifting module is provided on the tail of the fuselage; and the altitude sensor is provided on the fuselage or the wing, and the speed sensor is provided on the fuselage or the wing; and wherein the method comprises steps of: acquiring a flight control command; and according to the flight control command, controlling the driving module to adjust a mode of the first power module and controlling the first power module, the second power module, the third power module, the steering module, and the lifting module; wherein the flight control command comprises a steering command; and the step of according to the flight control command, controlling the driving module to adjust the mode of the first power module and controlling the first power module, the second power module, the third power module, the steering module, and the lifting module, comprises: according to the steering command, deflecting one of the steering modules corresponding to the steering command upwards, deflecting the other steering module downwards, and controlling the two first power modules to accelerate.

2 . The method according to claim 1 , wherein:
the flight control command comprises a vertical ascending command; the step of controlling the driving module to adjust the mode of the first power module and controlling the first power module, the second power module, the third power module, the steering module, and the lifting module, comprises: controlling the driving module to adjust the first power module to the lifting mode and turning off the steering module and the lifting module according to the vertical ascending command; and starting the two first power modules, two second power modules, and two third power modules, and adjusting powers of the two second power modules, two third power modules, and two first power modules to cause the UAV to vertically ascend.

3 . The method according to claim 1 , wherein:
the flight control command comprises a forward flight command; the step of controlling the driving module to adjust the mode of the first power module and controlling the first power module, the second power module, the third power module, the steering module, and the lifting module, comprises: acquiring a current altitude of the UAV detected by the altitude sensor according to the forward flight command; judging whether an altitude satisfies a preset altitude; and if the altitude satisfies the preset altitude, controlling powers of the two second power modules and two third power modules so that the UAV is in a hovering state, and controlling the driving module to adjust the two first power modules into a level flight mode so that the UAV flies forward.

4 . The method according to claim 1 , wherein:
the flight control command comprises a climbing command; and the step of controlling the driving module to adjust the mode of the first power module and controlling the first power module, the second power module, the third power module, the steering module, and the lifting module, comprises: according to the climbing command, controlling the lifting module to deflect upwards and controlling the two first power modules to accelerate.

5 . The method according to claim 1 , wherein:
the flight control command comprises a descending command; and the step of according to the flight control command, controlling the driving module to adjust the mode of the first power module and controlling the first power module, the second power module, the third power module, the steering module, and the lifting module, comprises: according to the descending command, controlling the lifting module to deflect downwards and controlling the two first power modules to decelerate.

6 . The method according to claim 1 , wherein:
the flight control command comprises a vertical landing command; and the step of according to the flight control command, controlling the driving module to adjust the mode of the first power module and controlling the first power module, the second power module, the third power module, the steering module, and the lifting module, comprises: starting the two second power modules and two third power modules according to the vertical landing command; after the two second power modules and the two third power modules are started, controlling the driving module to adjust the two first power modules to a vertical mode; and adjusting powers of the two third power modules, the two second power modules, and the two first power modules to cause the UAV to perform a vertical landing.

7 . The method according to claim 1 , wherein each rotor wing structure further comprises a frame body, a mounting base, a rotating shaft, and a cover body;
the frame body is fixed to one end of one of the supporting arms, the rotating shaft is rotatably arranged on the frame body, two ends of the rotating shaft protrude from the frame body, and an end of the mounting base is fixed to the rotating shaft; the first power module is fixed to another end of the mounting base, the driving module is fixed to the frame body, and the driving module is connected to the rotating shaft; the driving module is configured to drive the rotating shaft to rotate, so as to drive the mounting base to rotate relative to the frame body, thereby driving the first power module to rotate; and the cover body is positioned on the frame body for partially covering the driving module.

8 . The method according to claim 7 , wherein the mounting base defines a groove, a first mounting hole, and a second mounting hole; and
the groove is located at an end of the mounting base, the first mounting hole is located on a first side wall of the groove, the second mounting hole is located on a second side wall of the groove, the first side wall and the second side wall are opposite to each other, a part of the frame body and the cover body are both accommodated in the groove, one end of the rotating shaft is fixed to the first mounting hole, and another end of the rotating shaft passes through the accommodating cavity and is fixed to the second mounting hole.

9 . The method according to claim 8 , wherein the driving module comprises a helical gear, a bevel gear, and a driving assembly; and
the helical gear is located in the frame body, and the helical gear is fixed to the rotating shaft, the driving assembly is mounted to the frame body, the bevel gear is mounted to the driving assembly, the bevel gear meshes with the helical gear, the driving assembly is configured to drive the bevel gear to rotate, so as to drive the helical gear and the rotating shaft to rotate, thereby driving the mounting

Assignees

• Autel Robotics Co Ltd

Inventors

• He Ao
• Wang Kangli

Classifications

• B64C29/0033

  the propellers being tiltable relative to the fuselage · CPC title

• B64C29/0025 Primary

  the propellers being fixed relative to the fuselage · CPC title

• B64U10/25

  Fixed-wing aircraft (VTOL aircraft B64U10/20) · CPC title

• B64U30/294

  Rotors arranged in the UAV body · CPC title

• B64U30/297

  Tilting rotors · CPC title