Helicopter without swash plate and control method thereof

Abstract

The invention relates to the technical field of flight equipment, in particular to a swash-plate-free helicopter and a control method thereof.The swash-plate-free helicopter comprises a helicopter body, a paddle motor, a control system, a first paddle and a second paddle, the paddle motor and the control system are arranged on the helicopter body, and the first paddle and the second paddle are distributed on the two opposite sides of the paddle motor; a first swing body and a second swing body are hinged to the two opposite sides of the rotating support respectively, and the first paddle and the second paddle are connected to the first swing body and the second swing body respectively. The first swinging body and the second swinging body are respectively connected with the first paddle and the second paddle to generate forward or backward swinging in the rotating direction of the paddle motor, so that the screw pitches of the first paddle and the second paddle are changed. According to the invention, a swash plate and a steering engine in a traditional unmanned helicopter structure can be canceled, but turning flight of the helicopter can still be controlled, the manufacturing cost of the product is effectively reduced, the load of the helicopter body is reduced, the cruising ability is improved, the structure is more simplified, and the service life of the product is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of flight equipment, and in particular to a swash plate-free helicopter and a control method thereof. Background Art

[0002] Unmanned helicopters can fly smoothly at high altitudes and change directions flexibly. Their excellent fun and entertainment are deeply loved by consumers. Unmanned helicopters need to be able to overcome their own gravity and control an accurate direction control system to achieve stable flight at high altitudes and change directions flexibly. The aerial flight of model helicopters is achieved through the Bernoulli principle. High-speed rotating propellers are used to generate aerodynamic forces in the air, so that the helicopter can float in the air. Regarding the blade structure of the helicopter propeller, the blades on the opposite sides of the propeller are often required to form a certain pitch (or angle of attack) in the direction of rotation, so that the lower side of the blade can form a certain lift during the high-speed rotation of the propeller in the air. When the propeller speed reaches a certain speed and the lift on the lower side of the blade reaches a certain level, it can overcome the gravity of the helicopter body and drive the helicopter body upward. The rise and fall of the helicopter body can be controlled by controlling the rotation speed of the propeller. The directional control system on the helicopter is responsible for controlling the body's directional flight during flight. Its control principle is to control the pitch (or angle of attack) of the blades during rotation, so that the pitch (or angle of attack) of the propeller blades changes continuously at a certain rotation position. The air lift received by the blades at this rotation position will change, and thus the air lift received by the helicopter body at this position will also change accordingly. When the lift received by the local position of the helicopter body changes, the body can tilt as a whole. As the propeller continues to rotate, the helicopter body can fly and move in the tilted direction, thereby realizing the helicopter's directional flight.

[0003] However, in order to change the pitch (or angle of attack) of the propeller blades during the flight of the unmanned helicopter, the prior art requires an additional swash plate to be set on the top of the fuselage, and the direction control system generally requires a servo (generally including a servo and a solenoid valve), and the propeller blades also need to be able to rotate up and down as a whole, so that the pitch (or angle of attack) of the blades can also change with the up and down rotation of the blades. In addition, the swash plate is generally provided with a connecting rod structure controlled by the servo of the servo. When the propeller of the unmanned helicopter rotates at high speed during flight, the control system only needs to drive the swash plate to move through the servo of the servo, and the connecting rod structure on the swash plate can drive the blades to deflect up and down, thereby adjusting and changing the pitch (or angle of attack) of the blades in real time. Finally, this solution is used to realize the directional flight of the helicopter and control the flight direction of the helicopter.

[0004] Although the above-mentioned existing technical solution can change the pitch of the blades through the servo and thus control the flight direction of the helicopter, each blade of the propeller is equipped with a server with a servo, which requires at least multiple servers to be installed, which will significantly increase the production and manufacturing cost of the product. The volume and weight of the servo and solenoid valve of the server are also relatively large, which will undoubtedly increase the load of the unmanned helicopter and thus reduce the endurance of the helicopter. In addition, the swash plate structure on the propeller is also relatively complex and easy to be damaged, affecting the service life of the unmanned helicopter. Summary of the invention

[0005] In order to solve the technical problems existing in the prior art to a certain extent as much as possible, the present invention provides a swash plate-free helicopter and a control method thereof, which can eliminate the swash plate and servo in the structure of a traditional unmanned helicopter, but can still realize the directional control of the helicopter, effectively reduce the manufacturing cost of the product and reduce the load of the body, improve the endurance, and the structure is more simplified, which is conducive to extending the service life of the product.

[0006] The present invention discloses a swash plate-free helicopter, comprising an airframe, a blade motor and a control system arranged on the airframe, and a first blade and a second blade distributed on opposite sides of the blade motor, wherein the blade motor is provided with a rotating bracket, and opposite sides of the rotating bracket are respectively hinged with a first swinging body and a second swinging body, and the first blade and the second blade are respectively connected to the first swinging body and the second swinging body;

[0007] The first blade and the second blade are respectively caused to swing forward or backward in the rotation direction of the blade motor by the first swinging body and the second swinging body to change the pitch of the first blade and the second blade;

[0008] The blade motor is provided with a motor encoder electrically connected to the control system, and the rotational position of the blade motor is fed back to the control system in real time through the motor encoder, so that the control system can monitor the rotational positions of the first blade and the second blade in real time.

[0009] According to a swash plate-free helicopter of the present invention, a first hinge shaft and a second hinge shaft are respectively provided on opposite sides of the rotating bracket; the first swing body is pivotally connected to the first hinge shaft, and the second swing body is pivotally connected to the second hinge shaft;

[0010] The first hinge axis and the second hinge axis are parallel to each other; the first hinge axis is tilted and its upper end is tilted toward the rotation axis of the rotating bracket, and the second hinge axis is tilted and its lower end is tilted toward the rotation axis of the rotating bracket;

[0011] in:

[0012] When the instantaneous torque of the blade motor increases, the first swinging body in the rotation direction of the blade motor causes the first blade to inertialy swing backward around the first hinge shaft and increase the pitch of the first blade, and the second swinging body in the rotation direction of the blade motor causes the second blade to inertialy swing backward around the second hinge shaft and reduce the pitch of the first blade;

[0013] When the instantaneous torque of the blade motor decreases, the first swinging body causes the first blade to swing forward by inertia around the first hinge shaft in the rotation direction of the blade motor and reduces the pitch of the first blade, and the second swinging body causes the second blade to swing forward by inertia around the second hinge shaft in the rotation direction of the blade motor and increases the pitch of the first blade.

[0014] According to a swash plate-free helicopter of the present invention, a first connecting arm and a second connecting arm are fixed to opposite sides of the rotating bracket, respectively, and the height position of the first connecting arm is lower than the height position of the second connecting arm; a first hinge plate extending obliquely upward is provided at the outer end of the first connecting arm, and a second hinge plate extending obliquely downward is provided at the outer end of the second connecting arm; the first hinge plate and the second hinge plate are parallel to each other, and the upper end of the first hinge plate is flush with the top of the second connecting arm, and the lower end of the second hinge plate is flush with the bottom of the first connecting arm;

[0015] A first C-shaped paddle clamp is provided at the inner end of the first swinging body, and a second C-shaped paddle clamp is provided at the inner end of the second swinging body;

[0016] Among them, the clamping mouth of the first C-shaped paddle clamp is parallel to the first hinge plate, and the clamping mouth of the second C-shaped paddle clamp is parallel to the second hinge plate; the first hinge axis is vertically pivoted to the first hinge plate and the first C-shaped paddle clamp, and the second hinge axis is vertically pivoted to the second hinge plate and the second C-shaped paddle clamp.

[0017] According to a swash plate-free helicopter of the present invention, a first arc-shaped guide groove is formed on the end surface of the first C-shaped blade clamp, and a second arc-shaped guide groove is formed on the end surface of the second C-shaped blade clamp; a first limit block located in the first arc-shaped guide groove is provided on the first hinged plate or the first connecting arm, and a second limit block located in the second arc-shaped guide groove is provided on the second hinged plate or the second connecting arm;

[0018] Wherein, during the reciprocating rotation of the first arc guide groove with the first swinging body, the first limit block is respectively limited and contacted at two ends of the first arc guide groove; during the reciprocating rotation of the second arc guide groove with the second swinging body, the second limit block is respectively limited and contacted at two ends of the second arc guide groove.

[0019] According to a swash plate-free helicopter of the present invention, a third C-shaped propeller clamp is provided at the outer end of the first swing body, and a fourth C-shaped propeller clamp is provided at the outer end of the second swing body;

[0020] The first blade is pivotally connected in the third C-shaped blade clamp, and the second blade is pivotally connected in the fourth C-shaped blade clamp.

[0021] The present invention also provides a control method based on the above-mentioned swash plate-free helicopter:

[0022] When it is necessary to drive the aircraft to change direction in flight, the control system increases or decreases the instantaneous torque of the blade motor at a specific rotational position to force the first swinging body and the second swinging body to inertially swing backward or forward at a specific rotational position respectively together with the first blade and the second blade, so as to guide the aircraft to tilt in the corresponding direction by changing the pitch of the first blade and the second blade at the specific rotational position.

[0023] According to a control method of a swash plate-less helicopter of the present invention, when the helicopter body needs to be controlled to fly forward:

[0024] When the motor encoder is used to monitor that the first blade and the second blade rotate to the rear side and the front side of the body respectively, the control system increases the instantaneous torque of the blade motor, forcing the first swinging body and the second swinging body to swing backwards inertially in the rotation direction respectively together with the first blade and the second blade, so that the instantaneous pitch of the first blade swinging backwards when it is at the rear side of the body increases, and the instantaneous pitch of the second blade swinging backwards when it is at the front side of the body decreases, so as to increase the lift of the first blade when it rotates to the rear side of the body and reduce the lift of the second blade when it rotates to the front side of the body;

[0025] When it is necessary to brake the aircraft in forward flight:

[0026] When the motor encoder monitors that the first blade and the second blade rotate to the rear and front positions of the body respectively, the control system reduces the instantaneous torque of the blade motor, forcing the first swinging body and the second swinging body to swing forward inertially in the rotation direction respectively together with the first blade and the second blade, so that the instantaneous pitch of the forward-swinging first blade when it is at the rear side of the body is reduced, and the instantaneous pitch of the forward-swinging second blade when it is at the front side of the body is increased, so as to reduce the lift of the first blade when it rotates to the rear side of the body and increase the lift of the second blade when it rotates to the front side of the body.

[0027] According to a control method of a swash plate-free helicopter of the present invention, when the helicopter body needs to be controlled to fly backward:

[0028] When the motor encoder is used to monitor that the first blade and the second blade rotate to the front and rear positions of the body respectively, the control system increases the instantaneous torque of the blade motor, forcing the first swinging body and the second swinging body to swing backwards inertially in the rotation direction respectively together with the first blade and the second blade, so that the instantaneous pitch of the first blade swinging backwards when it is at the front side of the body increases, and the instantaneous pitch of the second blade swinging backwards when it is at the rear side of the body decreases, so as to increase the lift of the first blade when it rotates to the front side of the body and reduce the lift of the second blade when it rotates to the rear side of the body;

[0029] When it is necessary to brake the aircraft in the backward flight state:

[0030] When the motor encoder monitors that the first blade and the second blade rotate to the front and rear positions of the body respectively, the control system reduces the instantaneous torque of the blade motor, forcing the first swinging body and the second swinging body to swing forward inertially in the rotation direction respectively together with the first blade and the second blade, so that the instantaneous pitch of the forward-swinging first blade when it is at the front side of the body is reduced, and the instantaneous pitch of the forward-swinging second blade when it is at the rear side of the body is increased, so as to reduce the lift of the first blade when it rotates to the front side of the body and increase the lift of the second blade when it rotates to the rear side of the body.

[0031] According to a control method of a swash plate-free helicopter of the present invention, when the aircraft body needs to be controlled to fly sideways:

[0032] When the motor encoder monitors that the first blade and the second blade rotate to the left and right sides of the body respectively, the control system increases the instantaneous torque of the blade motor, forcing the first swinging body and the second swinging body to swing backward inertially in the rotation direction respectively together with the first blade and the second blade, so that the instantaneous pitch of the backward swinging first blade increases when it is on the left or right side of the body, and the instantaneous pitch of the backward swinging second blade decreases when it is on the right or left side of the body, so as to increase the lift of the first blade when it rotates to the left or right side of the body and reduce the lift of the second blade when it rotates to the right or left side of the body.

[0033] According to a control method of a swash-disk-free helicopter of the present invention, when it is necessary to brake the aircraft body in a lateral flight state:

[0034] When the motor encoder monitors that the first blade and the second blade rotate to the left and right sides of the body respectively, the control system reduces the instantaneous torque of the blade motor, forcing the first swinging body and the second swinging body to swing forward inertially in the rotation direction respectively together with the first blade and the second blade, so that the instantaneous pitch of the forward-swinging first blade is reduced when it is on the left or right side of the body, and the instantaneous pitch of the forward-swinging second blade is increased when it is on the right or left side of the body, so as to reduce the lift of the first blade when it rotates to the left or right side of the body and increase the lift of the second blade when it rotates to the right or left side of the body.

[0035] A swash plate-free helicopter of the present invention is provided with a rotating bracket on a blade motor for transmission. The rotating bracket is not directly connected to the first blade and the second blade, but a first swinging body is additionally connected between the rotating bracket and the first blade, and a second swinging body is additionally connected between the rotating bracket and the second blade, and the first swinging body and the second swinging body are hinged on opposite sides of the rotating bracket. After the first swinging body and the second swinging body are respectively hinged to the rotating bracket from opposite sides, the first swinging body and the first blade are swung forward or backward in the rotation direction of the blade motor, and the above swinging action of the first swinging body is used to change the pitch of the first blade. Similarly, the second swinging body and the second blade are swung forward or backward in the rotation direction of the blade motor, and the above swinging action of the second swinging body is used to change the pitch of the second blade. During the flight, as long as the instantaneous torque of the blade motor is increased or decreased by the control system, the first swinging body and the second swinging body can swing respectively in the rotation direction of the blade motor due to inertia, and the first blade and the second blade can be swung together and the pitch is changed. Therefore, even if the unmanned helicopter structure of the present invention cancels the configuration of the swash plate and the steering gear, the pitch of each blade of the propeller can still be adjusted in the rotating state. In addition, the blade motor is also provided with a motor encoder electrically connected to the internal control system of the helicopter, and the rotation position of the blade motor is fed back to the control system in real time through the motor encoder, so that the control system of the helicopter can monitor the rotation position of the first blade and the second blade in real time. Therefore, when the flight direction of the helicopter body needs to be changed in actual use, the control system only needs to judge the rotation position of the first blade and the second blade through the motor encoder and control the instantaneous torque of the blade motor at the corresponding rotation position, so that the first blade and the second blade are changed with the inertial swing of the first swing body and the second swing body when they reach the corresponding rotation position, so that the air lift of the first blade and the second blade at the corresponding position can be increased or decreased, and the air lift of the body at the above corresponding position will also change accordingly, so that the local position of the body is lifted or lowered by the lift change, and the helicopter can be tilted as a whole. With the continued rotation of the propeller, the helicopter body can fly and move in the tilted direction, realizing the helicopter's directional flight.

[0036] A control method for a swash plate-less helicopter of the present invention is based on the above-mentioned swash plate-less helicopter structural scheme of the present invention. When it is necessary to drive the body to change direction and fly, the instantaneous torque of the blade motor at a specific rotational position is first increased or decreased by the control system, so that inertia can be utilized to force the first swing body and the second swing body to inertially swing backward or forward at a specific rotational position together with the first blade and the second blade, respectively, so that the pitch of the first blade and the second blade in a rotating state can be changed when they reach the above-mentioned specific rotational position, so that the air lift received by the body at the corresponding position is changed by changing the pitch of the first blade and the second blade at the specific rotational position, so that the local position of the body is lifted or lowered by the lift change, thereby guiding the body as a whole to tilt in the corresponding direction, so that the helicopter body can fly and move in the tilted direction, thereby realizing the helicopter's change of direction flight.

[0037] It can be seen from this that the technical solution of the present invention can eliminate the swash plate and servo in the traditional unmanned helicopter structure, but can still achieve the control of the helicopter's directional flight, effectively reduce the manufacturing cost of the product and reduce the load on the body, improve endurance, and the structure is more simplified, which is conducive to extending the service life of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is the overall structure diagram of the helicopter of the present invention;

[0040] Figure 2 is a side view of the helicopter of the present invention;

[0041] Figure 3 It is a partial structural diagram of the side of the helicopter of the present invention;

[0042] Figure 4 is an exploded view of the rotating bracket, the first swing body and the second swing body in the helicopter of the present invention;

[0043] Figure 5 It is a partial structural diagram of the helicopter of the present invention;

[0044] Figure 6 is a schematic diagram of a method for controlling a helicopter to fly forward according to the present invention;

[0045] Figure 7 is a schematic diagram of a method for controlling rearward braking of a helicopter according to the present invention;

[0046] Figure 8 is a schematic diagram of a method for controlling a helicopter to fly backwards according to the present invention;

[0047] Fig. 9 is a schematic diagram of a method for controlling forward braking of a helicopter according to the present invention;

[0048] Fig.10 is a schematic diagram of a method for controlling a helicopter to fly leftward according to the present invention;

[0049] Fig.11 It is a schematic diagram of a method for controlling a helicopter to brake right according to the present invention.

[0050] Reference numerals:

[0051] 1. Machine body, 2. Propeller motor, 3. First propeller, 4. Second propeller, 5. Rotating bracket, 6. First swinging body, 7. Second swinging body, 8. First hinge shaft, 9. Second hinge shaft, 10. First connecting arm, 11. Second connecting arm, 12. First hinge plate,

[0052] 13. second hinged plate, 14. first C-shaped paddle clamp, 15. second C-shaped paddle clamp, 16. first arc-shaped guide groove, 17. second arc-shaped guide groove, 18. first limit block, 19. second limit block, 20. third C-shaped paddle clamp, 21. fourth C-shaped paddle clamp. DETAILED DESCRIPTION

[0053] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0054] like Figures 1 to 5As shown, a swash plate-free helicopter of this embodiment includes a body 1, on which a blade motor 2 is mounted, and the operation of the blade motor 2 is controlled by a control system in the body 1. Similar to the existing structure, the first blade 3 and the second blade 4 are distributed on opposite sides of the blade motor 2. When running, the blade motor 2 drives the first blade 3 and the second blade 4 to rotate in a clockwise direction. However, the different structure is that a rotating bracket 5 is provided on the top transmission of the blade motor 2, and the first swinging body 6 and the second swinging body 7 are respectively hinged on opposite sides of the rotating bracket 5, and the first blade 3 and the second blade 4 are respectively connected to the first swinging body 6 and the second swinging body 7. Among them, the first swinging body 6 and the second swinging body 7 respectively cause the first blade 3 and the second blade 4 to swing forward or backward in the rotation direction of the blade motor 2, thereby changing the pitch of the first blade 3 and the second blade 4. In addition, the blade motor 2 is provided with a motor encoder electrically connected to the control system, and the motor encoder feeds back the rotation position of the blade motor 2 to the control system in real time, so that the control system can monitor the rotation position of the first blade 3 and the second blade 4 in real time.

[0055] It can be understood that the swash plate-less helicopter of this embodiment is provided with a rotating bracket 5 on the blade motor 2 for transmission. The rotating bracket 5 is not directly connected to the first blade 3 and the second blade 4. Instead, a first swinging body 6 is additionally connected between the rotating bracket 5 and the first blade 3, and a second swinging body 7 is additionally connected between the rotating bracket 5 and the second blade 4. The first swinging body 6 and the second swinging body 7 are hinged on opposite sides of the rotating bracket 5. After the first swinging body 6 and the second swinging body 7 are respectively hinged to the rotating bracket 5 from opposite sides, the first swinging body 6 and the first blade 3 are swung forward or backward in the rotation direction of the blade motor 2, and the pitch of the first blade 3 is changed by the above swinging action of the first swinging body 6. Similarly, the second swinging body 7 and the second blade 4 are swung forward or backward in the rotation direction of the blade motor 2, and the pitch of the second blade 4 is changed by the above swinging action of the second swinging body 7. Therefore, during the flight, as long as the instantaneous torque of the blade motor 2 is increased or decreased by the control system, the first swinging body 6 and the second swinging body 7 can be swung respectively in the rotation direction of the blade motor 2 due to inertia, and the first blade 3 and the second blade 4 can be swung and the pitch is changed. Therefore, even if the unmanned helicopter structure of the present invention cancels the configuration of the swash plate and the steering gear, the pitch of each blade of the propeller can still be adjusted in the rotating state. In addition, the blade motor 2 is also provided with a motor encoder electrically connected to the internal control system of the helicopter, and the rotation position of the blade motor 2 is fed back to the control system in real time through the motor encoder, so that the control system of the helicopter can monitor the rotation position of the first blade 3 and the second blade 4 in real time. Therefore, when the flight direction of the helicopter body 1 needs to be changed in actual use, the control system only needs to determine the rotation position of the first blade 3 and the second blade 4 through the motor encoder and control the instantaneous torque of the blade motor 2 at the corresponding rotation position, so that the first blade 3 and the second blade 4 will change their pitch as the first swing body 6 and the second swing body 7 produce inertial swings when they reach the corresponding rotation position, thereby increasing or decreasing the air lift of the first blade 3 and the second blade 4 at the corresponding position, and the air lift of the body 1 at the above corresponding position will also change accordingly, so that the local position of the body 1 is lifted or lowered by the lift change, and the helicopter can tilt as a whole. As the propeller continues to rotate, the helicopter body can fly and move in the tilted direction, realizing the helicopter's directional flight.

[0056] In one embodiment, specifically, a first hinge shaft 8 and a second hinge shaft 9 are respectively provided on opposite sides of the rotating bracket 5, the first swing body 6 is pivoted to the first hinge shaft 8, and the second swing body 7 is pivoted to the second hinge shaft 9, so that the first swing body 6 and the second swing body 7 can swing on both sides of the rotating bracket 5 respectively. In addition, the first hinge shaft 8 and the second hinge shaft 9 are parallel to each other, the first hinge shaft 8 is tilted, and the upper end of the first hinge shaft 8 is tilted to point to the rotation axis of the rotating bracket 5, and the second hinge shaft 9 is also tilted, and the lower end of the second hinge shaft 9 is tilted to point to the rotation axis of the rotating bracket 5, and the first hinge shaft 8 and the second hinge shaft 9 are both tilted at 45°. Under the action of the above structure, when the instantaneous torque of the blade motor 2 changes, causing the first swinging body 6 and the second swinging body 7 to swing inertially in the rotation direction of the blade motor 2, it can be ensured that the pitch changes of the first blade 3 and the second blade 4 are opposite to each other, and the amplitude of the pitch change is the same. For example, when the instantaneous torque of the blade motor 2 increases and causes the first swinging body 6 and the second swinging body 7 to swing backward inertially in the rotation direction of the blade motor 2, the above structure can ensure that the pitch of the first blade 3 increases, while the pitch of the second blade 4 decreases, and the increase amplitude of the pitch of the first blade 3 is the same as the decrease amplitude of the pitch of the second blade 4.

[0057] Specifically, in the present embodiment, when the instantaneous torque of the blade motor 2 increases, the first swinging body 6 in the rotation direction of the blade motor 2 causes the first blade 3 to swing backward by inertia around the first hinge shaft 8 and increases the pitch of the first blade 3, and the second swinging body 7 in the rotation direction of the blade motor 2 causes the second blade 4 to swing backward by inertia around the second hinge shaft 9 and reduces the pitch of the first blade 3. Therefore, when the torque of the blade motor 2 increases instantaneously, the first swinging body 6 and the second swinging body 7 rotate backward by inertia, causing the pitch of the first blade 3 to increase instantaneously. The momentary torque of the blade motor 2 decreases, and the pitch of the second blade 4 decreases instantly. At this time, the instantaneous lift received by the first blade 3 increases. On the contrary, the instantaneous lift received by the second blade 4 decreases. The first blade 3 with the instantaneous increase in lift can drive the body 1 to rise at its own position, and the second blade 4 with the instantaneous decrease in lift can guide the body 1 to descend at its own position. At this time, the body 1 can be tilted as a whole. With the air thrust generated by the continued rotation of the propeller, the helicopter can move in the tilted direction to achieve the change of direction of the helicopter. In addition, in the present embodiment, when the instantaneous torque of the blade motor 2 decreases, the first swinging body 6 in the rotation direction of the blade motor 2 in conjunction with the first blade 3 inertia swings forward around the first hinge shaft 8 and reduces the pitch of the first blade 3, and the second swinging body 7 in the rotation direction of the blade motor 2 in conjunction with the second blade 4 inertia swings forward around the second hinge shaft 9 and increases the pitch of the first blade 3. Therefore, when the torque of the blade motor 2 is reduced instantaneously, the first swing body 6 and the second swing body 7 rotate forward due to inertia in the rotation direction of the blade motor 2, so that the pitch of the first blade 3 is reduced instantaneously and the pitch of the second blade 4 is increased instantaneously. At this time, the instantaneous lift received by the first blade 3 is reduced, and on the contrary, the instantaneous lift received by the second blade 4 is increased. The first blade 3 whose lift is reduced instantaneously can guide the body 1 to descend at its own position, and the second blade 4 whose lift is increased instantaneously can guide the body 1 to rise at its own position, so that the body 1 that was originally moving in a tilted state can be tilted in the opposite direction, so that the body 1 that is changing direction can be decelerated and the braking function can be realized.

[0058] In one embodiment, regarding the specific structure of the rotating bracket 5, the first connecting arm 10 and the second connecting arm 11 are respectively formed integrally on opposite sides of the rotating bracket 5, the height position of the first connecting arm 10 is lower than the height position of the second connecting arm 11, the outer end of the first connecting arm 10 is formed integrally with a first hinge plate 12 extending obliquely upward, and the outer end of the second connecting arm 11 is formed integrally with a second hinge plate 13 extending obliquely downward, the first hinge plate 12 and the second hinge plate 13 are parallel to each other, and the upper end of the first hinge plate 12 is flush with the top of the second connecting arm 11, and the lower end of the second hinge plate 13 is flush with the bottom of the first connecting arm 10. In addition, a first U-shaped paddle clamp 14 is provided at the inner end of the first swinging body 6, and a second U-shaped paddle clamp 15 is provided at the inner end of the second swinging body 7. During assembly, after the clamping mouth of the first C-shaped paddle clamp 14 is parallelly sleeved on the first hinge plate 12, the first hinge shaft 8 is vertically pivoted to the first hinge plate 12 and the first C-shaped paddle clamp 14, thereby facilitating the inclined installation of the first hinge shaft 8, and facilitating the first swinging body 6 and the rotating bracket 5 to be jointly hinged to the inclined first hinge shaft 8, so that the first swinging body 6 can swing around the first hinge shaft 8 together with the first paddle blade 3, and the pitch of the first paddle blade 3 can be easily changed. Similarly, during assembly, the clamping mouth of the second C-shaped paddle clamp 15 is parallelly sleeved on the second hinge plate 13, and the second hinge shaft 9 is vertically pivoted to the second hinge plate 13 and the second C-shaped paddle clamp 15, thereby facilitating the inclined installation of the second hinge shaft 9, and facilitating the second swinging body 7 and the rotating bracket 5 to be jointly hinged with the inclined second hinge shaft 9, so that the second swinging body 7 can swing around the second hinge shaft 9 together with the second paddle 4, and the pitch of the second paddle 4 can be easily changed. In addition, the positions of the first connecting arm 10 and the second connecting arm 11 in the structure of the above-mentioned rotating bracket 5 and the inclined extension direction and extension height of the first hinged plate 12 and the second hinged plate 13 can ensure that when the first swinging body 6 and the second swinging body 7 have inertial swinging in the rotation direction of the blade motor 2, the pitch changes of the first blade 3 and the second blade 4 are opposite to each other. That is, for example, when the instantaneous torque of the blade motor 2 increases, thereby causing the first swinging body 6 and the second swinging body 7 to swing backward inertially in the rotation direction of the blade motor 2, the above-mentioned structure can ensure that the pitch of the first blade 3 increases and the pitch of the second blade 4 decreases, which can ultimately help guide the helicopter body 1 to tilt as a whole and realize the directional change flight of the body 1.

[0059] In one embodiment, specifically, a first arc-shaped guide groove 16 is processed on the end surface of the first C-shaped paddle clamp 14, and a second arc-shaped guide groove 17 is processed on the end surface of the second C-shaped paddle clamp 15. Accordingly, a first limit block 18 located in the first arc-shaped guide groove 16 is fixed on the first connecting arm 10 of the first hinge plate 12, and a second limit block 19 located in the second arc-shaped guide groove 17 is fixed on the second hinge plate 13 or the second connecting arm 11. During the reciprocating rotation of the first arc guide groove 16 with the first swinging body 6, the first limit block 18 is respectively limited and contacted at the two ends of the first arc guide groove 16, thereby limiting the rotation angle of the first swinging body 6, so that the change of the pitch of the first blade 3 during the swinging process of the first swinging body 6 can be controlled within a reasonable range. Similarly, during the reciprocating rotation of the second arc guide groove 17 with the second swinging body 7, the second limit block 19 is respectively limited and contacted at the two ends of the second arc guide groove 17, thereby limiting the rotation angle of the second swinging body 7, so that the change of the pitch of the second blade 4 during the swinging process of the second swinging body 7 can be controlled within a reasonable range.

[0060] In one embodiment, specifically, a third C-shaped paddle clamp 20 is provided at the outer end of the first swinging body 6, and the first paddle blade 3 is pivotally connected in the third C-shaped paddle clamp 20; a fourth C-shaped paddle clamp 21 is provided at the outer end of the second swinging body 7, and the second paddle blade 4 is pivotally connected in the fourth C-shaped paddle clamp 21. This structure can facilitate the extension and folding of the first paddle blade 3 and the second paddle blade 4 on the rotating bracket 5.

[0061] Based on the unmanned helicopter structure of the above embodiment, the present embodiment also implements a control method for a helicopter without a swash plate, and the control method is: when the helicopter blade motor 2 is started to drive the blades of each propeller to rotate at a high speed in a clockwise direction to make the body 1 rise as a whole, the body 1 is in a state of hovering in the air. At this time, when the body 1 needs to be driven to change direction (forward, left, right or backward), the instantaneous torque of the blade motor 2 at a specific rotation position is first increased or decreased by the control system, thereby forcing the first swing body 6 and the second swing body 7 to be connected respectively under the action of inertia. The first blade 3 and the second blade 4 swing backward or forward by inertia at a specific rotational position. After the first blade 3 and the second blade 4 are triggered to swing at the specific rotational position, the pitch of the first blade 3 and the second blade 4 at the specific rotational position can be changed, thereby changing the lift of the first blade 3 and the second blade 4 at this position. In this way, the lift of the fuselage 1 at a local position can be changed, and the fuselage 1 can be guided to tilt in the corresponding direction in the air. After a certain tilt, the helicopter can automatically move in the tilted direction to achieve the helicopter's directional change flight.

[0062] Specifically, combined Figure 6 As shown, when the aircraft 1 needs to be controlled to fly forward, the control is performed as follows:

[0063] When the helicopter's blade motor 2 is started to drive the blades of each propeller to rotate at high speed in a clockwise direction so that the fuselage 1 is hovering in the air, when the motor encoder is used to monitor that the first blade 3 and the second blade 4 rotate to the rear and front positions of the fuselage 1 respectively, the control system increases the instantaneous torque of the blade motor 2 (which can be understood as instantly increasing the speed of the blade motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing backward inertially in the rotation direction of the blade motor 2 respectively, together with the first blade 3 and the second blade 4, thereby increasing the instantaneous pitch of the first blade 3 swinging backward when it is at the rear position of the fuselage 1, and reducing the instantaneous pitch of the second blade 4 swinging backward when it is at the front position of the fuselage 1. The motor encoder can be used to provide real-time feedback to the control system on the rotational position of the first blade 3 and the second blade 4 in the future. The control system has the function that every time it detects that the first blade 3 and the second blade 4 rotate to the rear and front positions of the fuselage 1 respectively, it continues to increase the instantaneous pitch of the first blade 3 when it is at the rear position of the fuselage 1 and reduce the instantaneous pitch of the second blade 4 when it is at the front position of the fuselage 1 by increasing the instantaneous torque of the blade motor 2. In this way, the lift of the first blade 3 when it rotates to the rear side of the fuselage 1 can be increased, and the lift of the second blade 4 when it rotates to the front side of the fuselage 1 can be reduced. The first blade 3 with instantly increased lift can drive the fuselage 1 to lift at the rear position of the fuselage 1, and the second blade 4 with instantly reduced lift can guide the fuselage 1 to descend at the front position of the fuselage 1. At this time, the fuselage 1 can be tilted forward as a whole. With the air thrust generated by the continued rotation of the propeller, the helicopter can fly forward, thereby realizing the change of direction of the helicopter from a hovering state to a forward flight.

[0064] Combination Figure 7 As shown, when the aircraft body 1 in the forward flight state needs to be braked backward, the control is performed as follows:

[0065] When the motor encoder detects that the first blade 3 and the second blade 4 rotate to the rear and front positions of the body 1 respectively, the control system reduces the instantaneous torque of the blade motor 2 (which can be understood as instantly reducing the speed of the blade motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing forward inertialy with the first blade 3 and the second blade 4 in the rotation direction of the blade motor 2, thereby reducing the instantaneous pitch of the first blade 3 swinging forward when it is at the rear side of the body 1, and at the same time, the second blade 4 swinging forward is at the front side of the body 1. The instantaneous pitch increases when the first blade 3 is in the position, thereby reducing the lift when the first blade 3 rotates to the rear side of the fuselage 1 and increasing the lift when the second blade 4 rotates to the front side of the fuselage 1. The first blade 3 with its lift instantly reduced can guide the fuselage 1 to descend at the rear side of the fuselage 1, while the second blade 4 with its lift instantly increased can guide the fuselage 1 to rise at the front side of the fuselage 1, thereby allowing the fuselage 1 that is in the forward tilted flight state to tilt in the opposite direction, thereby achieving backward braking and deceleration of the fuselage 1 that is flying forward, thereby realizing the braking function.

[0066] Optionally, combined Figure 8 As shown, when the aircraft body 1 needs to be controlled to fly backward, the control is performed as follows:

[0067] When the helicopter's blade motor 2 is started to drive the blades of each propeller to rotate at high speed in a clockwise direction so that the fuselage 1 is hovering in the air, when the motor encoder is used to monitor that the first blade 3 and the second blade 4 rotate to the front and rear positions of the fuselage 1 respectively, the control system increases the instantaneous torque of the blade motor 2 (which can be understood as instantly increasing the speed of the blade motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing backwards inertially in the rotation direction of the blade motor 2 respectively, thereby increasing the instantaneous pitch of the backward-swinging first blade 3 when it is at the front position of the fuselage 1, and reducing the instantaneous pitch of the backward-swinging second blade 4 when it is at the rear position of the fuselage 1. Subsequently, the function of the motor encoder to provide real-time feedback of the rotational position of the first blade 3 and the second blade 4 to the control system can be continued to be utilized. Whenever the control system detects that the first blade 3 and the second blade 4 rotate to the front and rear positions of the fuselage 1 respectively, the control system continues to increase the instantaneous pitch of the first blade 3 when it is at the front position of the fuselage 1 and reduce the instantaneous pitch of the second blade 4 when it is at the rear position of the fuselage 1 by increasing the instantaneous torque of the blade motor 2. In this way, the lift of the first blade 3 when it rotates to the front position of the fuselage 1 can be increased, and the lift of the second blade 4 when it rotates to the rear position of the fuselage 1 can be reduced. The first blade 3 with instantly increased lift can drive the fuselage 1 to lift at the front position of the fuselage 1, and the second blade 4 with instantly reduced lift can guide the fuselage 1 to descend at the rear position of the fuselage 1. At this time, the fuselage 1 can be tilted backward as a whole. As the propeller continues to rotate, the air thrust generated allows the helicopter to fly backward, thereby realizing the change of direction of the helicopter from a hovering state to a backward flight.

[0068] Combination Fig. 9 As shown, when the aircraft body 1 in the backward flight state needs to be braked forward, the control is performed as follows:

[0069] When the motor encoder detects that the first blade 3 and the second blade 4 rotate to the front and rear positions of the body 1 respectively, the control system reduces the instantaneous torque of the blade motor 2 (which can be understood as instantly reducing the speed of the blade motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing forward inertialy with the first blade 3 and the second blade 4 in the rotation direction of the blade motor 2, thereby reducing the instantaneous pitch of the first blade 3 swinging forward when it is at the front position of the body 1, and reducing the instantaneous pitch of the second blade 4 swinging forward when it is at the rear position of the body 1. The instantaneous pitch increases, thereby reducing the lift of the first blade 3 when it rotates to the front side of the fuselage 1 and increasing the lift of the second blade 4 when it rotates to the rear side of the fuselage 1. The first blade 3 with instantly reduced lift can guide the fuselage 1 to descend at the front side of the fuselage 1, while the second blade 4 with instantly increased lift can guide the fuselage 1 to rise at the rear side of the fuselage 1, thereby allowing the fuselage 1 that is in the backward tilted flight state to tilt in the opposite direction, thereby achieving forward braking and deceleration of the fuselage 1 that is flying backward, thereby realizing the braking function.

[0070] Optionally, combined Fig.10 As shown, when the aircraft body 1 needs to be controlled to fly sideways, this embodiment takes the need to control the aircraft body 1 to fly to the left as an example, and the control is performed in the following method:

[0071] When the helicopter's blade motor 2 is started to drive the blades of each propeller to rotate at a high speed in a clockwise direction so that the body 1 is hovering in the air, when the motor encoder is used to monitor that the first blade 3 and the second blade 4 rotate to the right and left positions of the body 1 respectively, the control system increases the instantaneous torque of the blade motor 2 (which can be understood as instantly increasing the speed of the blade motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to inertially swing backwards in the rotation direction of the blade motor 2, thereby increasing the instantaneous pitch of the first blade 3 swinging backwards when it is at the right position of the body 1, and increasing the pitch of the first blade 3 swinging backwards. The instantaneous pitch of the second blade 4 when it is at the left side of the body 1 is reduced. Later, the motor encoder can continue to be used to provide real-time feedback to the control system on the rotational position of the first blade 3 and the second blade 4. Whenever the control system detects that the first blade 3 and the second blade 4 rotate to the right and left sides of the body 1 respectively, the instantaneous pitch of the first blade 3 when it is at the right side of the body 1 and the instantaneous pitch of the second blade 4 when it is at the left side of the body 1 will continue to be increased by increasing the instantaneous torque of the blade motor 2. In this way, the lift of the first blade 3 when it rotates to the right side of the body 1 can be increased, and the lift of the second blade 4 when it rotates to the left side of the body 1 can be reduced. The first blade 3 with an instantaneous increase in lift can drive the body 1 to rise at the right side of the body 1, while the second blade 4 with an instantaneous decrease in lift can guide the body 1 to descend at the left side of the body 1. At this time, the body 1 can tilt to the left as a whole. With the air thrust generated by the continued rotation of the propeller, the helicopter can fly to the left, realizing the change of direction of the helicopter from the hovering state to the flight to the left.

[0072] Combination Fig.11 As shown, when the aircraft body 1 in the leftward flying state needs to be braked to the right, the control is performed as follows:

[0073] When the motor encoder detects that the first blade 3 and the second blade 4 rotate to the right and left positions of the body 1 respectively, the control system reduces the instantaneous torque of the blade motor 2 (which can be understood as instantly reducing the speed of the blade motor 2). Under the action of inertia, the first swinging body 6 and the second swinging body 7 are forced to swing forward inertialy with the first blade 3 and the second blade 4 in the rotation direction of the blade motor 2, so that the instantaneous pitch of the first blade 3 swinging forward when it is at the right side of the body 1 is reduced, and at the same time, the instantaneous pitch of the second blade 4 swinging forward when it is at the left side of the body 1 is reduced. The pitch is increased, so that the lift of the first blade 3 when it rotates to the right side of the fuselage 1 can be reduced, and the lift of the second blade 4 when it rotates to the left side of the fuselage 1 can be increased. The first blade 3 with its lift instantly reduced can guide the fuselage 1 to descend at the right side of the fuselage 1, and the second blade 4 with its lift instantly increased can guide the fuselage 1 to ascend at the left side of the fuselage 1, so that the fuselage 1 that is in a tilted flight state to the left can be tilted in the opposite direction, so that the fuselage 1 flying to the left can be braked to the right and decelerated, thereby realizing the braking function.

[0074] Through the above-mentioned swash plate-less helicopter structure and the control method for the swash plate-less helicopter, it can be known that the technical solution of the present invention can eliminate the swash plate and the servo in the traditional unmanned helicopter structure, but can still realize the directional control of the helicopter, effectively reduce the manufacturing cost of the product and reduce the load of the body, improve the endurance, and the structure is more simplified, which is conducive to extending the service life of the product.

[0075] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A swash plate-free helicopter, comprising an airframe (1), a blade motor (2) and a control system arranged on the airframe (1), and a first blade (3) and a second blade (4) distributed on opposite sides of the blade motor (2), characterized in that: The paddle motor (2) is provided with a rotating bracket (5) for transmission, and a first swinging body (6) and a second swinging body (7) are respectively hinged on opposite sides of the rotating bracket (5), and the first paddle (3) and the second paddle (4) are respectively connected to the first swinging body (6) and the second swinging body (7); The first swinging body (6) and the second swinging body (7) respectively cause the first blade (3) and the second blade (4) to swing forward or backward in the rotation direction of the blade motor (2) to change the pitch of the first blade (3) and the second blade (4); The paddle motor (2) is provided with a motor encoder electrically connected to the control system, and the rotational position of the paddle motor (2) is fed back to the control system in real time through the motor encoder, so that the control system can monitor the rotational positions of the first paddle (3) and the second paddle (4) in real time.

2. The swash plate-less helicopter according to claim 1, characterized in that: A first hinge shaft (8) and a second hinge shaft (9) are respectively arranged on opposite sides of the rotating bracket (5); the first swinging body (6) is pivotally connected to the first hinge shaft (8), and the second swinging body (7) is pivotally connected to the second hinge shaft (9); The first hinge shaft (8) and the second hinge shaft (9) are parallel to each other; the first hinge shaft (8) is tilted and its upper end is tilted toward the rotation axis of the rotating bracket (5); the second hinge shaft (9) is tilted and its lower end is tilted toward the rotation axis of the rotating bracket (5); in: When the instantaneous torque of the blade motor (2) increases, the first swinging body (6) causes the first blade (3) to swing backwards inertialy around the first hinge shaft (8) in the rotation direction of the blade motor (2) and increases the pitch of the first blade (3), and the second swinging body (7) causes the second blade (4) to swing backwards inertialy around the second hinge shaft (9) in the rotation direction of the blade motor (2) and reduces the pitch of the first blade (3); When the instantaneous torque of the blade motor (2) decreases, the first swinging body (6) in the rotation direction of the blade motor (2) causes the first blade (3) to swing forward by inertia around the first hinge shaft (8) and reduces the pitch of the first blade (3), and the second swinging body (7) in the rotation direction of the blade motor (2) causes the second blade (4) to swing forward by inertia around the second hinge shaft (9) and increases the pitch of the first blade (3).

3. The swash-disk-free helicopter according to claim 2, characterized in that: A first connecting arm (10) and a second connecting arm (11) are fixed to opposite sides of the rotating bracket (5), respectively; the height of the first connecting arm (10) is lower than the height of the second connecting arm (11); the outer end of the first connecting arm (10) is provided with a first hinge plate (12) extending obliquely upward, and the outer end of the second connecting arm (11) is provided with a second hinge plate (13) extending obliquely downward; the first hinge plate (12) and the second hinge plate (13) are parallel to each other, and the upper end of the first hinge plate (12) is flush with the top of the second connecting arm (11), and the lower end of the second hinge plate (13) is flush with the bottom of the first connecting arm (10); A first C-shaped paddle clamp (14) is provided at the inner end of the first swinging body (6), and a second C-shaped paddle clamp (15) is provided at the inner end of the second swinging body (7); The clamping opening of the first C-shaped paddle clamp (14) is sleeved on the first hinge plate (12) in parallel, and the clamping opening of the second C-shaped paddle clamp (15) is sleeved on the second hinge plate (13) in parallel; the first hinge shaft (8) is vertically pivoted to the first hinge plate (12) and the first C-shaped paddle clamp (14), and the second hinge shaft (9) is vertically pivoted to the second hinge plate (13) and the second C-shaped paddle clamp (15).

4. The swash-disk-free helicopter according to claim 3, characterized in that: The end surface of the first C-shaped paddle clamp (14) is provided with a first arc-shaped guide groove (16), and the end surface of the second C-shaped paddle clamp (15) is provided with a second arc-shaped guide groove (17); the first hinged plate (12) or the first connecting arm (10) is provided with a first limiting block (18) located in the first arc-shaped guide groove (16), and the second hinged plate (13) or the second connecting arm (11) is provided with a second limiting block (19) located in the second arc-shaped guide groove (17); Wherein, during the process of the first arc-shaped guide groove (16) reciprocatingly rotating with the first swinging body (6), the first limit block (18) is respectively limited in contact with the two ends of the first arc-shaped guide groove (16); during the process of the second arc-shaped guide groove (17) reciprocatingly rotating with the second swinging body (7), the second limit block (19) is respectively limited in contact with the two ends of the second arc-shaped guide groove (17).

5. The swash-disk-free helicopter according to claim 3, characterized in that: A third C-shaped paddle clamp (20) is provided at the outer end of the first swinging body (6), and a fourth C-shaped paddle clamp (21) is provided at the outer end of the second swinging body (7); The first paddle blade (3) is pivotally connected in the third C-shaped paddle clamp (20), and the second paddle blade (4) is pivotally connected in the fourth C-shaped paddle clamp (21).

6. A control method for a swash-diskless helicopter according to any one of claims 1 to 5, characterized in that: When it is necessary to drive the aircraft body (1) to change direction, the instantaneous torque of the blade motor (2) at a specific rotational position is increased or decreased by the control system to force the first swinging body (6) and the second swinging body (7) to inertially swing backward or forward at a specific rotational position together with the first blade (3) and the second blade (4), so as to guide the aircraft body (1) to tilt in a corresponding direction by changing the pitch of the first blade (3) and the second blade (4) at the specific rotational position.

7. The control method of a swash-diskless helicopter according to claim 6, characterized in that: When it is necessary to control the aircraft body (1) to fly forward: When the motor encoder detects that the first blade (3) and the second blade (4) rotate to the rear side and the front side of the body (1) respectively, the control system increases the instantaneous torque of the blade motor (2), forcing the first swinging body (6) and the second swinging body (7) to swing backwards in the rotation direction together with the first blade (3) and the second blade (4), respectively, so that the instantaneous pitch of the first blade (3) swinging backwards increases when it is at the rear side of the body (1), and the instantaneous pitch of the second blade (4) swinging backwards decreases when it is at the front side of the body (1), so as to increase the lift of the first blade (3) when it rotates to the rear side of the body (1) and reduce the lift of the second blade (4) when it rotates to the front side of the body (1); When it is necessary to brake the aircraft body (1) in the forward flight state: When the motor encoder detects that the first blade (3) and the second blade (4) rotate to the rear side and the front side of the machine body (1) respectively, the control system reduces the instantaneous torque of the blade motor (2), forcing the first swinging body (6) and the second swinging body (7) to swing forward inertially with the first blade (3) and the second blade (4) in the rotation direction, so that the instantaneous pitch of the first blade (3) swinging forward when it is at the rear side of the machine body (1) is reduced, and the instantaneous pitch of the second blade (4) swinging forward when it is at the front side of the machine body (1) is increased, so as to reduce the lift of the first blade (3) when it rotates to the rear side of the machine body (1) and increase the lift of the second blade (4) when it rotates to the front side of the machine body (1).

8. The control method of a swash-diskless helicopter according to claim 6, characterized in that: When it is necessary to control the aircraft body (1) to fly backwards: When the motor encoder detects that the first blade (3) and the second blade (4) rotate to the front and rear positions of the body (1) respectively, the control system increases the instantaneous torque of the blade motor (2), forcing the first swinging body (6) and the second swinging body (7) to swing backwards in the rotation direction together with the first blade (3) and the second blade (4), respectively, so that the instantaneous pitch of the first blade (3) swinging backwards increases when it is at the front side of the body (1), and the instantaneous pitch of the second blade (4) swinging backwards decreases when it is at the rear side of the body (1), so as to increase the lift of the first blade (3) when it rotates to the front side of the body (1) and reduce the lift of the second blade (4) when it rotates to the rear side of the body (1); When it is necessary to brake the aircraft body (1) in the backward flying state: When the motor encoder detects that the first blade (3) and the second blade (4) rotate to the front and rear positions of the machine body (1) respectively, the control system reduces the instantaneous torque of the blade motor (2), forcing the first swinging body (6) and the second swinging body (7) to swing forward inertially with the first blade (3) and the second blade (4) respectively in the direction of rotation, so that the instantaneous pitch of the first blade (3) swinging forward when it is at the front side of the machine body (1) is reduced, and the instantaneous pitch of the second blade (4) swinging forward when it is at the rear side of the machine body (1) is increased, so as to reduce the lift of the first blade (3) when it rotates to the front side of the machine body (1) and increase the lift of the second blade (4) when it rotates to the rear side of the machine body (1).

9. The control method of a swash-diskless helicopter according to claim 6, characterized in that: When it is necessary to control the aircraft body (1) to fly sideways: When the motor encoder detects that the first blade (3) and the second blade (4) rotate to the left and right sides of the body (1), the control system increases the instantaneous torque of the blade motor (2), forcing the first swinging body (6) and the second swinging body (7) to swing backwards inertially with the first blade (3) and the second blade (4) in the direction of rotation, so that the instantaneous pitch of the first blade (3) swinging backwards is increased when it is on the left or right side of the body (1), and the instantaneous pitch of the second blade (4) swinging backwards is reduced when it is on the right or left side of the body (1), so as to increase the lift of the first blade (3) when it rotates to the left or right side of the body (1) and reduce the lift of the second blade (4) when it rotates to the right or left side of the body (1).

10. The control method of a swash-diskless helicopter according to claim 9, characterized in that: When it is necessary to brake the aircraft body (1) in the sideways flight state: When the motor encoder detects that the first blade (3) and the second blade (4) rotate to the left and right sides of the body (1), the control system reduces the instantaneous torque of the blade motor (2), forcing the first swinging body (6) and the second swinging body (7) to swing forward inertially with the first blade (3) and the second blade (4) in the direction of rotation, so that the instantaneous pitch of the first blade (3) swinging forward is reduced when it is on the left or right side of the body (1), and the instantaneous pitch of the second blade (4) swinging forward is increased when it is on the right or left side of the body (1), so as to reduce the lift of the first blade (3) when it rotates to the left or right side of the body (1) and increase the lift of the second blade (4) when it rotates to the right or left side of the body (1).

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