A flight control method and system for a tiltable multi-rotor unmanned aerial vehicle

Abstract

The present application discloses a flight control method and system for a tiltable multi-rotor UAV, the method comprising: obtaining flight status data; identifying the flight status according to the flight status data; generating control instructions according to the flight status, the control instructions comprising a tilt control instruction and a rotor control instruction, the tilt control instruction is used to control the tilt assembly to change the spatial position of the tiltable wing relative to the fuselage, and the rotor control instruction is used to control the rotation speed of the rotor; the tilt assembly and the rotor are controlled by the control instruction, so that the tiltable multi-rotor UAV switches between a vertical take-off and landing state and a level flight state. The downwash generated by the blades of the rotor is realized so as to not hit the wing, thereby improving the stability of the UAV; since the downwash does not hit the wing, there will be no downwash load, and the payload of the UAV will not be reduced.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicles (UAVs), and in particular to a flight control method and system for a tiltable multi-rotor UAV. Background Art

[0002] Drones generally use a tiltable multi-rotor on a fixed wing, which enables the drone to have the function of vertical take-off and landing, allowing the drone to be used in more scenarios. This type of drone takes off vertically by using the rotor to provide lift, and then tilts the rotor axis 90° to provide power for the fixed wing to achieve a change in flight state.

[0003] For fixed-wing UAVs with tilt-rotor, the inventors found the following technical problems: during vertical take-off and landing, the wings of the UAV are fixed, and the spiral tip vortex shed from the rotor blade tip will induce a downwash flow, which hits the wing at a direction close to 90°, forming a blocked three-dimensional effect flow field on the upper surface of the wing, seriously affecting the stability of the UAV; in the hovering state, the downwash load on the wing accounts for a part of the total rotor thrust, which will reduce the payload of the UAV. Summary of the invention

[0004] In order to solve the problem that the spiral blade tip vortex induces downwash flow, causing instability of the UAV, and the downwash load reduces the payload of the UAV, the present application provides a flight control method and system for a tiltable multi-rotor UAV.

[0005] In a first aspect, the present application provides a flight control method for a tiltable multi-rotor UAV, which adopts the following technical solution:

[0006] A flight control method for a tiltable multi-rotor UAV is applied to the tiltable multi-rotor UAV. The tiltable multi-rotor UAV comprises a fuselage, a tiltable wing, a tail wing and a rotor. The rotor is located at the front end of the tiltable wing. A tilt assembly is provided between the tiltable wing and the fuselage. The flight control method comprises:

[0007] Get flight status data;

[0008] Identify the flight state according to the flight state data. The flight state includes a vertical take-off and landing state, a level flight state, and a transition mode. The transition mode is a transition state between a vertical take-off and landing state and a level flight state.

[0009] Generate a control instruction according to the flight state, the control instruction including a tilt control instruction and a rotor control instruction, the tilt control instruction is used to control the tilt assembly to change the spatial position of the tiltable wing relative to the fuselage, the rotor control instruction is used to control the rotation speed of the rotor, the spatial position is between a first position and a second position, the first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage, and the second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage;

[0010] The tilting assembly and the rotor are controlled by control commands, so that the tilting multi-rotor UAV can switch between the vertical take-off and landing state and the level flight state.

[0011] Optionally, obtain flight status data, including:

[0012] When the tiltable multi-rotor drone performs a flight mission, the current flight speed value is detected by the flight speed sensor, and the current flight altitude value is detected by the altitude detector;

[0013] The flight status data is obtained according to the current flight speed value and the current flight altitude value.

[0014] Optionally, the flight status is identified based on the flight status data, including:

[0015] Analyze the flight status data to obtain the current horizontal flight speed value and the current flight altitude value;

[0016] Get the preset state switching speed threshold and state switching height threshold;

[0017] Determine whether the current flight altitude value reaches the state switching altitude threshold;

[0018] If the state switching height threshold is not reached, the flight state is determined to be a vertical take-off and landing state;

[0019] If the state switching altitude threshold is reached, determine whether the current flight speed value is lower than the state switching speed threshold;

[0020] If it is not lower than the state switching speed threshold, the flight state is determined to be level flight;

[0021] If it is lower than the state switching speed threshold, the flight state is determined to be a transition mode.

[0022] Optionally, when the flight state is a vertical take-off and landing state, the tilt assembly and the rotor are controlled by control instructions, including:

[0023] Parsing the control instruction to obtain a first tilt control instruction and a first rotor control instruction;

[0024] controlling the tilt assembly according to the first tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at a first position;

[0025] The rotation speed of the rotor is controlled according to the first rotor control instruction so that the current flight altitude value is adjusted.

[0026] Optionally, when the flight state is a level flight state, the tilt assembly and the rotor are controlled by control instructions, including:

[0027] Analyzing the control command to obtain a second tilt control command and a second rotor control command;

[0028] controlling the tilt assembly according to the second tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the second position;

[0029] The rotation speed of the rotor is controlled according to the second rotor control instruction so that the current flight speed value remains no less than the state switching speed threshold.

[0030] Optionally, when the flight state is in a transition mode, the tilt assembly and the rotor are controlled by control instructions, including:

[0031] Analyzing the control command to obtain a third tilt control command and a third rotor control command;

[0032] Controlling the tilt assembly according to a third tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage changes from a first position to a second position, or from the second position to the first position;

[0033] The rotation speed of the rotor is controlled according to the third rotor control instruction so that the height value during the state change process is equal to the state switching height threshold.

[0034] In a second aspect, the present application provides a flight control system for a tiltable multi-rotor UAV, which is applied to the tiltable multi-rotor UAV. The tiltable multi-rotor UAV includes a fuselage, a tiltable wing, a tail wing and a rotor. The rotor is located at the front end of the tiltable wing. A tilt assembly is provided between the tiltable wing and the fuselage. The flight control system includes:

[0035] A flight controller connected to the motor of the tilt assembly and the motor of the rotor;

[0036] The flight controller includes a data processing module, a flight status identification module, a control instruction generation module and a flight control module;

[0037] A data processing module, used to obtain flight status data;

[0038] A flight state recognition module is used to recognize the flight state according to the flight state data. The flight state includes a vertical take-off and landing state, a level flight state and a transition mode. The transition mode is a transition state between a vertical take-off and landing state and a level flight state.

[0039] A control instruction generation module, used for generating control instructions according to the flight state, the control instructions including a tilt control instruction and a rotor control instruction, the tilt control instruction is used for controlling the tilt assembly to change the spatial position of the tiltable wing relative to the fuselage, the rotor control instruction is used for controlling the rotation speed of the rotor, the spatial position is between a first position and a second position, the first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage, and the second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage;

[0040] The flight control module is used to control the tilting assembly and the rotor through control instructions, so that the tilting multi-rotor UAV can switch between the vertical take-off and landing state and the level flight state.

[0041] Optionally, when the flight state is vertical take-off and landing,

[0042] The flight control module is specifically used to parse the control instructions to obtain the first tilt control instruction and the first rotor control instruction; control the tilt assembly according to the first tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains in the first position; control the rotor speed according to the first rotor control instruction so that the current flight altitude value is adjusted.

[0043] Optional, when the flight state is level flight,

[0044] The flight control module is specifically used to parse the control instruction to obtain the second tilt control instruction and the second rotor control instruction; control the tilt assembly according to the second tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the second position; control the rotor rotation speed according to the second rotor control instruction so that the current flight speed value remains no less than the state switching speed threshold.

[0045] Optional, when the flight state is transition mode,

[0046] The flight control module is specifically used to parse the control instructions to obtain the third tilt control instruction and the third rotor control instruction; control the tilt assembly according to the third tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage changes from a first position to a second position, or from the second position to the first position; control the rotation speed of the rotor according to the third rotor control instruction so that the height value during the state change process is equal to the state switching height threshold.

[0047] In summary, this application includes the following beneficial technical effects:

[0048] Since the wings of the tiltable multi-rotor UAV are tiltable, the rotor is located at the front end of the tiltable wing, and a tilt assembly is provided between the tiltable wing and the fuselage, after the flight state is identified according to the flight state data, a control instruction can be generated according to the flight state, and the tilt assembly is controlled by the control instruction, thereby changing the spatial position of the tiltable wing relative to the fuselage. The spatial position is between a first position and a second position. The first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage. The second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage. The process of switching between the vertical take-off and landing state and the level flight state of the tiltable multi-rotor UAV is the change between the first position and the second position. When the spatial position of the tiltable wing relative to the fuselage is in the first position, the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage. Then, the downwash flow generated by the blades of the rotor will not hit the wing, thereby improving the stability of the UAV; since the downwash flow will not hit the wing, there will be no downwash load, and the payload of the UAV will not be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flow chart of the flight control method of the tiltable multi-rotor UAV of the present application.

[0050] Figure 2 It is a flowchart of the flight status identification of the present application.

[0051] Figure 3 It is a structural schematic diagram of the flight control system of the tiltable multi-rotor UAV of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below through the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] An embodiment of the present application discloses a flight control method for a tiltable multi-rotor UAV.

[0054] Reference Figure 1 , the method comprising:

[0055] 101, obtain flight status data;

[0056] Among them, the structure of the tiltable multi-rotor UAV includes a fuselage, a tiltable wing, a tail wing and a rotor. The rotor is located at the front end of the tiltable wing and is fixed relative to the tiltable wing. This is different from the existing UAV with tiltable rotors. A tilting component is provided between the tiltable wing and the fuselage, and the tilting component can control the spatial position of the tiltable wing relative to the fuselage. In the process of the tiltable multi-rotor UAV performing a flight mission, the means of obtaining flight status data can be specifically obtained by detecting the current flight speed value through a flight speed sensor, and the current flight altitude value through an altitude detector, and the current flight speed value and the current flight altitude value are combined to obtain the flight status data.

[0057] 102, identifying the flight status according to the flight status data;

[0058] The flight state includes vertical take-off and landing state, level flight state and transition mode. The transition mode is the transition state between the vertical take-off and landing state and the level flight state. The specific process of identifying the flight state is as follows: Figure 2 As shown, the steps include:

[0059] 201, analyzing the flight status data to obtain the current horizontal flight speed value and the current flight altitude value;

[0060] 202, obtaining a preset state switching speed threshold and a state switching height threshold;

[0061] The preset state switching speed threshold is a preset suitable speed for the transition mode, and the preset state switching height threshold is a preset suitable height for the transition mode;

[0062] 203, determining whether the current flight altitude value reaches the state switching altitude threshold;

[0063] Wherein, it is determined whether the current flight altitude value reaches the state switching altitude threshold value. If the state switching altitude threshold value is not reached, it indicates that the altitude of the tiltable multi-rotor UAV does not meet the standard of the transition mode, and step 204 is executed; if the state switching altitude threshold value is reached, it indicates that the altitude has reached the standard of the transition mode, and step 205 is executed;

[0064] 204, determine that the flight state is a vertical take-off and landing state;

[0065] 205, determining whether the current flight speed value is lower than the state switching speed threshold;

[0066] Wherein, it is determined whether the current flight speed value is lower than the state switching speed threshold value. If it is not lower than the state switching speed threshold value, it indicates that the flight speed value of the tiltable multi-rotor UAV does not meet the standard of the transition mode, and step 206 is executed; if it is lower than the state switching speed threshold value, it indicates that the flight speed value of the tiltable multi-rotor UAV does not meet the standard of the transition mode, and step 207 is executed;

[0067] 206, determine that the flight state is a level flight state;

[0068] 207, determine that the flight state is a transition mode.

[0069] Through the above steps 201-207, it can be identified that the tiltable multi-rotor drone is in any one of the vertical take-off and landing state, the level flight state and the transition mode.

[0070] 103, generating a control instruction according to the flight status, the control instruction including a tilt control instruction and a rotor control instruction;

[0071] Among them, the tilt control instruction is used to control the tilt assembly to change the spatial position of the tiltable wing relative to the fuselage, and the rotor control instruction is used to control the rotation speed of the rotor. The spatial position is between a first position and a second position. The first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage. The second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage.

[0072] 104, controlling the tilt assembly and the rotor through control instructions, so that the tilt multi-rotor UAV switches between a vertical take-off and landing state and a level flight state.

[0073] The implementation principle of this application is:

[0074] Since the wings of the tiltable multi-rotor UAV are tiltable, the rotor is located at the front end of the tiltable wing, and a tilt assembly is provided between the tiltable wing and the fuselage, after the flight state is identified according to the flight state data, a control instruction can be generated according to the flight state, and the tilt assembly is controlled by the control instruction, thereby changing the spatial position of the tiltable wing relative to the fuselage. The spatial position is between a first position and a second position. The first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage. The second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage. The process of switching between the vertical take-off and landing state and the level flight state of the tiltable multi-rotor UAV is the change between the first position and the second position. When the spatial position of the tiltable wing relative to the fuselage is in the first position, the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage. Then, the downwash flow generated by the blades of the rotor will not hit the wing, thereby improving the stability of the UAV; since it will not hit the wing, there will be no downwash load, and the payload of the UAV will not be reduced.

[0075] In the above Figure 1 In the illustrated embodiment, the tilt assembly and the rotor are controlled by control instructions in step 104, which needs to be specifically combined with actual scenarios under different flight states, and are described below respectively.

[0076] Preferably, in some embodiments of the present invention, when the flight state is a vertical take-off and landing state, the tilt assembly and the rotor are controlled by control instructions, including:

[0077] Parsing the control instruction to obtain a first tilt control instruction and a first rotor control instruction;

[0078] controlling the tilt assembly according to the first tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at a first position;

[0079] The rotation speed of the rotor is controlled according to the first rotor control instruction, and the current flight altitude value is increased to the state switching altitude threshold.

[0080] The implementation principle of this application is:

[0081] When the flight state is a vertical take-off and landing state, the control instruction is parsed to obtain the first tilt control instruction and the first rotor control instruction. In order to ensure vertical take-off and landing, the tilt assembly is controlled according to the first tilt control instruction to ensure that the spatial position of the tiltable wing relative to the fuselage remains in the first position. The rotation speed of the rotor determines the rise and fall of the vertical height value. According to the lifting requirements, the rotation speed of the rotor is controlled according to the first rotor control instruction to adjust the current flight height value.

[0082] Preferably, in some embodiments of the present invention, when the flight state is a level flight state, controlling the tilt assembly and the rotor by control instructions includes:

[0083] Analyzing the control command to obtain a second tilt control command and a second rotor control command;

[0084] controlling the tilt assembly according to the second tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the second position;

[0085] The rotation speed of the rotor is controlled according to the second rotor control instruction so that the current flight speed value remains no less than the state switching speed threshold.

[0086] The implementation principle of this application is:

[0087] When the flight state is level flight, the tilt assembly is controlled according to the second tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage is maintained at the second position, the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage, thereby achieving level flight, and the rotation speed of the rotor is controlled according to the second rotor control instruction to ensure that the current flight speed value remains no less than the state switching speed threshold.

[0088] Preferably, in some embodiments of the present invention, when the flight state is a transition mode, controlling the tilt assembly and the rotor by control instructions includes:

[0089] Analyzing the control command to obtain a third tilt control command and a third rotor control command;

[0090] Controlling the tilt assembly according to the third tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage changes from the first position to the second position, or from the second position to the first position;

[0091] The rotation speed of the rotor is controlled according to the third rotor control instruction so that the altitude value during the state change process is equal to the state switching altitude threshold.

[0092] The implementation principle of this application is:

[0093] When the flight state is in a transition mode, the tilt assembly is controlled according to the third tilt control instruction, so that the spatial position of the tiltable wing relative to the fuselage changes from the first position to the second position, that is, changes from a vertical take-off and landing state to a level flight state; or the spatial position of the tiltable wing relative to the fuselage changes from the second position to the first position, that is, changes from a level flight state to a vertical take-off and landing state; and in the process of state change, the rotation speed of the rotor is controlled according to the third rotor control instruction, so that the height value during the state change process is equal to the state switching height threshold, that is, in the process of state change, in order to ensure the safety of the tiltable multi-rotor UAV, the height is maintained stable when the state changes.

[0094] In the above embodiments, the flight control method of the tiltable multi-rotor UAV is described in detail. The flight control system of the tiltable multi-rotor UAV applying the method is described below by way of an embodiment. Figure 3 As shown, the present application provides a flight control system for a tiltable multi-rotor UAV, comprising:

[0095] The flight controller 30 is connected to the motor of the tilt assembly and the motor of the rotor;

[0096] The flight controller 30 includes a data processing module 310, a flight state identification module 311, a control instruction generation module 312 and a flight control module 313;

[0097] A data processing module 310 is used to obtain flight status data;

[0098] A flight state identification module 311 is used to identify the flight state according to the flight state data. The flight state includes a vertical take-off and landing state, a level flight state and a transition mode. The transition mode is a transition state between the vertical take-off and landing state and the level flight state.

[0099] A control instruction generating module 312 is used to generate control instructions according to the flight state, wherein the control instructions include a tilt control instruction and a rotor control instruction, wherein the tilt control instruction is used to control the tilt assembly to change the spatial position of the tiltable wing relative to the fuselage, and the rotor control instruction is used to control the rotation speed of the rotor, wherein the spatial position is between a first position and a second position, wherein the first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage, and the second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage;

[0100] The flight control module 313 is used to control the tilting assembly and the rotor through control instructions, so that the tilting multi-rotor UAV switches between a vertical take-off and landing state and a level flight state.

[0101] The implementation principle of this application is:

[0102] Since the wings of the tiltable multi-rotor UAV are tiltable, the rotor is located at the front end of the tiltable wing, and a tilt assembly is provided between the tiltable wing and the fuselage, after the flight state is identified according to the flight state data, a control instruction can be generated according to the flight state, and the tilt assembly is controlled by the control instruction, thereby changing the spatial position of the tiltable wing relative to the fuselage. The spatial position is between a first position and a second position. The first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage. The second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage. The process of switching between the vertical take-off and landing state and the level flight state of the tiltable multi-rotor UAV is the change between the first position and the second position. When the spatial position of the tiltable wing relative to the fuselage is in the first position, the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage. Then, the downwash flow generated by the blades of the rotor will not hit the wing, thereby improving the stability of the UAV; since it will not hit the wing, there will be no downwash load, and the payload of the UAV will not be reduced.

[0103] Preferably, in some embodiments of the present invention, when the flight state is a vertical take-off and landing state,

[0104] The flight control module 313 is specifically used to parse the control instructions to obtain the first tilt control instruction and the first rotor control instruction; control the tilt assembly according to the first tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains in the first position; control the rotor speed according to the first rotor control instruction so that the current flight altitude value is adjusted.

[0105] Preferably, in some embodiments of the present invention, when the flight state is a level flight state,

[0106] The flight control module 313 is specifically used to parse the control instruction to obtain the second tilt control instruction and the second rotor control instruction; control the tilt assembly according to the second tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the second position; control the rotor rotation speed according to the second rotor control instruction so that the current flight speed value remains no less than the state switching speed threshold.

[0107] Preferably, in some embodiments of the present invention, when the flight state is a transition mode,

[0108] The flight control module 313 is specifically used to parse the control instructions to obtain the third tilt control instruction and the third rotor control instruction; control the tilt assembly according to the third tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage changes from the first position to the second position, or from the second position to the first position; control the rotation speed of the rotor according to the third rotor control instruction so that the altitude value during the state change process is equal to the state switching altitude threshold.

[0109] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A flight control method for a tiltable multi-rotor UAV, characterized in that: Applied to a tiltable multi-rotor UAV, the tiltable multi-rotor UAV comprises a fuselage, a tiltable wing, a tail wing and a rotor, the rotor is located at the front end of the tiltable wing, a tilt assembly is provided between the tiltable wing and the fuselage, and the flight control method comprises: Get flight status data; identifying a flight state according to the flight state data, wherein the flight state includes a vertical take-off and landing state, a level flight state, and a transition mode, wherein the transition mode is a conversion transition state between the vertical take-off and landing state and the level flight state; Generate a control instruction according to the flight state, the control instruction including a tilt control instruction and a rotor control instruction, the tilt control instruction is used to control the tilt assembly to change the spatial position of the tiltable wing relative to the fuselage, the rotor control instruction is used to control the rotation speed of the rotor, the spatial position is between a first position and a second position, the first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage, and the second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage; The tilt assembly and the rotor are controlled by the control instruction, so that the tiltable multi-rotor UAV switches between the vertical take-off and landing state and the level flight state.

2. The flight control method of a tiltable multi-rotor UAV according to claim 1, characterized in that: The obtaining of flight status data comprises: When the tiltable multi-rotor UAV performs a flight mission, the current flight speed value is detected by the flight speed sensor, and the current flight altitude value is detected by the altitude detector; The flight status data is obtained according to the current flight speed value and the current flight altitude value.

3. The flight control method of a tiltable multi-rotor UAV according to claim 2, characterized in that: The identifying the flight status according to the flight status data comprises: Analyzing the flight status data to obtain a current horizontal flight speed value and a current flight altitude value; Get the preset state switching speed threshold and state switching height threshold; Determine whether the current flight altitude value reaches the state switching altitude threshold; If the state switching height threshold is not reached, determining that the flight state is a vertical take-off and landing state; If the state switching altitude threshold is reached, determining whether the current flight speed value is lower than the state switching speed threshold; If the speed is not lower than the state switching speed threshold, determining that the flight state is a level flight state; If it is lower than the state switching speed threshold, the flight state is determined to be a transitional mode.

4. The flight control method of a tiltable multi-rotor UAV according to claim 3, characterized in that: When the flight state is a vertical take-off and landing state, The step of controlling the tilt assembly and the rotor by means of the control instruction comprises: Parsing the control instruction to obtain a first tilt control instruction and a first rotor control instruction; controlling the tilt assembly according to the first tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the first position; The rotation speed of the rotor is controlled according to the first rotor control instruction so that the current flight altitude value is adjusted.

5. The flight control method of a tiltable multi-rotor UAV according to claim 3, characterized in that: When the flight state is a level flight state, The step of controlling the tilt assembly and the rotor by means of the control instruction comprises: parsing the control instruction to obtain a second tilt control instruction and a second rotor control instruction; controlling the tilt assembly according to the second tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the second position; The rotation speed of the rotor is controlled according to the second rotor control instruction so that the current flight speed value remains no less than the state switching speed threshold.

6. The flight control method of a tiltable multi-rotor UAV according to claim 3, characterized in that: When the flight state is a transition mode, The step of controlling the tiltable wing and the rotor by using the control instruction comprises: parsing the control instruction to obtain a third tilt control instruction and a third rotor control instruction; Controlling the tilt assembly according to the third tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage changes from the first position to the second position, or from the second position to the first position; The rotation speed of the rotor is controlled according to the third rotor control instruction so that the height value during the state change process is equal to the state switching height threshold.

7. A flight control system for a tiltable multi-rotor UAV, characterized in that: Applied to a tiltable multi-rotor UAV, the tiltable multi-rotor UAV comprises a fuselage, a tiltable wing, a tail wing and a rotor, the rotor is located at the front end of the tiltable wing, a tilt assembly is provided between the tiltable wing and the fuselage, and the flight control system comprises: A flight controller connected to the motor of the tilt assembly and the motor of the rotor; The flight controller includes a data processing module, a flight status identification module, a control instruction generation module and a flight control module; The data processing module is used to obtain flight status data, wherein the flight status data includes a current flight speed value detected by a flight speed sensor and a current flight altitude value detected by an altitude detector; The flight state identification module is used to identify the flight state according to the flight state data, wherein the flight state includes a vertical take-off and landing state, a level flight state and a transition mode, and the transition mode is a conversion transition state between the vertical take-off and landing state and the level flight state; The control instruction generating module is used to generate a control instruction according to the flight state, the control instruction includes a tilt control instruction and a rotor control instruction, the tilt control instruction is used to control the tilt assembly to change the spatial position of the tiltable wing relative to the fuselage, and the rotor control instruction is used to control the rotation speed of the rotor, the spatial position is between a first position and a second position, the first position is that the tiltable wing is parallel to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the vertical direction of the fuselage, and the second position is that the tiltable wing is perpendicular to the horizontal direction of the fuselage, and the blades of the rotor are perpendicular to the horizontal direction of the fuselage; The flight control module is used to control the tilt assembly and the rotor through the control instruction, so that the tiltable multi-rotor UAV switches between the vertical take-off and landing state and the level flight state.

8. The flight control system of the tiltable multi-rotor UAV according to claim 7, characterized in that: When the flight state is a vertical take-off and landing state, The flight control module is specifically used to parse the control instruction to obtain a first tilt control instruction and a first rotor control instruction; control the tilt assembly according to the first tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the first position; and control the rotation speed of the rotor according to the first rotor control instruction so that the current flight altitude value is adjusted.

9. The flight control system of the tiltable multi-rotor UAV according to claim 7, characterized in that: When the flight state is a level flight state, The flight control module is specifically used to parse the control instruction to obtain a second tilt control instruction and a second rotor control instruction; control the tilt assembly according to the second tilt control instruction so that the spatial position of the tiltable wing relative to the fuselage remains at the second position; control the rotation speed of the rotor according to the second rotor control instruction so that the current flight speed value remains no less than the state switching speed threshold.

10. The flight control system of the tiltable multi-rotor UAV according to claim 7, characterized in that: When the flight state is a transition mode, The flight control module is specifically used to parse the control instruction to obtain a third tilt control instruction and a third rotor control instruction; control the tilt assembly according to the third tilt control instruction, so that the spatial position of the tiltable wing relative to the fuselage changes from the first position to the second position, or from the second position to the first position; The rotation speed of the rotor is controlled according to the third rotor control instruction so that the height value during the state change process is equal to the state switching height threshold.

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