Flight control method and device for multi-rotor unmanned aerial vehicle, and multi-rotor unmanned aerial vehicle

A multi-rotor unmanned aerial vehicle, comprising:

• a center frame;
• a carrier mounted on the center frame;
• a plurality of arms connected to the center frame;
• a propulsion assembly on each of the plurality of arms for providing flight propulsion;
• and
• a flight control device,
• wherein:
• each propulsion assembly includes a forward-rotating rotor and a counter-rotating rotor arranged vertically in a direction of a yaw axis, a first driving device for driving the forward-rotating rotor to rotate, and a second driving device for driving the counter-rotating rotor to rotate;
• the forward-rotating rotor and the counter-rotating rotor have rotating centers in a same axis and have opposite rotating directions;
• the flight control device is configured to determine a current attitude of the multi-rotor unmanned aerial vehicle, and adjust vertical arrangement positions of the forward-rotating rotor and the counter-rotating rotor of each propulsion assembly in the direction of the yaw axis according to the current attitude of the multi-rotor unmanned aerial vehicle;
• the current attitude of the multi-rotor unmanned aerial vehicle includes a normal flight attitude when the carrier is at the lower side of the center frame, and an inverted flight attitude when the carrier is at the upper side of the center frame;
• in the normal and inverted flight attitudes, an installation position of the carrier on the center frame remains unchanged;
• and
• the flight control device is configured to adjust the vertical arrangement positions of the forward-rotating rotor and the counter-rotating rotor in each propulsion assembly in the direction of the yaw axis according to the current attitude of the multi-rotor unmanned aerial vehicle, such that the vertical arrangement positions of the forward-rotating rotor and the counter-rotating rotor in each propulsion assembly in the direction of the yaw axis remain unchanged under the normal and inverted flight attitudes, and each rotor maintains a state of pushing down airflow when rotating.