Method and device for controlling flight of UAV, and UAV

A device 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;
• wherein the device comprises:
• an acquisition module configured to acquire a flight control command;
• and
• a control module configured to, according to the flight control command, control the driving module to adjust a mode of the first power module and control the first power module, the second power module, the third power module, the steering module, and the lifting module;
• the flight control command comprises a steering command;
• and
• the control module is further configured to:
• according to the steering command, deflect one of the steering modules corresponding to the steering command upwards, deflect the other steering module downwards, and control the two first power modules to accelerate.

An unmanned aerial vehicle (UAV), comprising:

• a fuselage;
• two wings respectively fixed to two sides of the fuselage;
• two supporting arms, one of the supporting arms being fixed to one of the wings;
• two rotor wing structures, the rotor wing structure comprising a first power module and a driving module connected to the first power module, wherein the driving module of one rotor wing structure is fixed to one end of one supporting arm, 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;
• two second power modules, wherein one second power module is fixed to the other end of one supporting arm;
• two third power modules respectively fixed to a head and a tail of the fuselage;
• a lifting module provided at the tail of the fuselage;
• two steering modules, wherein one steering module is provided on one wing;
• an altitude sensor provided on the fuselage or the wing;
• a speed sensor provided on the fuselage or the wing;
• and
• a controller comprising a memory and at least one processor, wherein the at least one processor is respectively communicatively connected to the memory, two second power modules, two third power modules, the lifting module, the altitude sensor, the speed sensor, the first power module, and the driving module;
• the memory stores one or more instructions executable by the at least one processor, the instruction being executed by the at least one processor to execute a method for controlling a flight of the UAV, 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.