Unmanned aerial vehicle without control surface and flight attitude control method

Abstract

The invention provides a control-surface-free unmanned aerial vehicle and a flight attitude control method, and the control-surface-free unmanned aerial vehicle comprises a vehicle body which is provided with wings on two sides as lifting surfaces; the first power mechanism and the second power mechanism are arranged on the wings on the two sides respectively, and the rotation directions of the first power mechanism and the second power mechanism face the outer sides of the wings on the two sides respectively; the driving mechanisms are arranged on the wings on the two sides respectively and used for driving the first power mechanism and / or the second power mechanism to swing upwards or downwards in the forward flight direction of the unmanned aerial vehicle so as to adjust the flight attitude of the unmanned aerial vehicle. The swing angle range of the first power mechanism and the second power mechanism is larger than 90 degrees. According to the unmanned aerial vehicle, flight attitude control in a fixed wing mode can be realized without setting a control surface, the dead weight of the whole structure is greatly reduced, and the load and cruising ability of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a rudderless UAV and a flight attitude control method. Background Art

[0002] With the rapid development of science and technology, in recent years, the types of UAV equipment have become more and more diverse, and products with various flight modes such as fixed-wing, multi-rotor, helicopter, and vertical take-off fixed-wing have appeared. Among them, the attitude control method of fixed-wing UAV is still mainly rudder control.

[0003] In the related technology, the flight attitude control scheme of the traditional fixed-wing mode is as follows: the roll of the drone is controlled by the aileron control surfaces on both sides, the yaw is controlled by the rudder control surfaces of the tail wing, and the pitch is controlled by the elevator control surfaces of the tail wing. The above scheme is not only complex to control, but also the weight of multiple control surfaces and the steering mechanism that controls the control surfaces is large, which affects the load and endurance of the drone.

[0004] The Chinese patent application number 2023102746078 discloses a drone that uses a quad-rotor control mode. During the fixed-wing mode flight, the four rotor motors still need to work, so that the flight attitude of the drone in the fixed-wing mode is adjusted through the differential control of the four motors. However, the basic logic of the vertical fixed-wing (4+1 configuration) solution is: the take-off and landing functions of the drone in the quad-rotor mode are realized by four rotor motors, and the fixed-wing attitude cruise flight of the drone is realized by the tail thrust motor and wings. Its main working mode is the fixed-wing mode, and the wings provide lift to achieve the purpose of long endurance. The quad-rotor mode consumes relatively large amounts of electricity, but this state is only used during take-off and landing, and will not have a significant impact on the entire working condition.

[0005] It can be seen from the basic logic of the above-mentioned vertical fixed-wing solution that the four-rotor control mode of the above-mentioned related patents violates the basic logic of this type of UAV configuration. In the fixed-wing mode, the rotor motor still works to control the attitude of the fixed-wing mode, which greatly affects the flight time of the entire machine. At the same time, in the fixed-wing mode flight process, the propeller disk surfaces of the four rotors are equivalent to four resistance surfaces, which will further reduce the flight efficiency of the entire machine and cannot achieve the purpose of long-duration flight. Therefore, this mode has no practical application conditions.

[0006] The Chinese patent application number 2022112918201 discloses a method, device and drone for controlling the operation of a drone. The drone also adopts a quad-rotor control mode, which uses a tilting mechanism to tilt the two forward power units forward and upward by 90°, thereby enabling the drone to switch between fixed-wing mode and multi-rotor mode. However, the drone of this scheme still controls the flight attitude through the rudder in the fixed-wing mode, and because the drone is heavy, the tilting mechanism used in the drone adopts a gear transmission mechanism driven by a servo and with a reduction gear. This transmission method will cause gaps between the teeth and virtual positions under long periods of time or large loads, resulting in the servo drive motor angle not being in place.

[0007] In summary, there is still no rudderless drone that can simplify the control complexity and improve the drone's payload and endurance. Summary of the invention

[0008] In order to solve the above technical problems, the present application proposes a rudderless UAV and a flight attitude control method. The UAV can achieve flight attitude control in fixed-wing mode without setting rudders, which greatly reduces the dead weight of the entire machine structure, thereby improving the UAV's payload and endurance.

[0009] According to a first aspect of the present application, a rudderless drone is proposed, comprising: A fuselage, wherein the fuselage has two side wings as lift surfaces, and the two side wings are not provided with rudder surfaces; a first power mechanism and a second power mechanism, wherein the first power mechanism and the second power mechanism are respectively arranged on the wings on both sides, and the rotation directions of the first power mechanism and the second power mechanism are respectively toward the outer sides of the wings on both sides; and The driving mechanisms are respectively arranged on the wings on both sides, and are used to drive the first power mechanism and / or the second power mechanism to swing upward or downward in the forward direction of the UAV to adjust the flight attitude of the UAV, wherein the swing angle range of the first power mechanism and the second power mechanism is greater than 90°.

[0010] Preferably, the two side wings are symmetrically provided with power arms along the center of gravity of the body, the power arms extend along the length direction of the body, and the driving mechanism is installed at one end of the power arms away from the two side wings.

[0011] Preferably, the driving mechanism is a coreless servo, and the coreless servo directly drives the first power mechanism and the second power mechanism.

[0012] Preferably, the first power mechanism and the second power mechanism both include a tilt motor mount, a drive motor and a propeller, the tilt motor mount is connected to the drive mechanism, the drive motor is installed on the tilt motor mount and is drivingly connected to the propeller.

[0013] Preferably, the machine body further comprises at least one third power mechanism, the third power mechanism is arranged at the rear of the machine body and faces upward, and the power direction of the third power mechanism is the same as that of the first power mechanism.

[0014] Preferably, the number of the third power mechanism is one, a tail rod is provided at the rear of the machine body along its length direction, a central axis of the tail rod is colinear with a symmetry line of the power support arm, and the third power mechanism is provided on the tail rod.

[0015] Preferably, the fuselage further comprises a tail wing, the tail wing is arranged at the end of the tail boom, and the tail wing is not provided with a rudder surface.

[0016] According to a second aspect of the present application, a flight attitude control method for a rudderless UAV is proposed, which is applied to a rudderless UAV provided in any embodiment of the first aspect above, and the method comprises: Controlling the driving mechanism so that the first power mechanism and the second power mechanism maintain a horizontal forward posture in the heading direction of the UAV, and controlling the UAV to fly in a fixed-wing flight mode; The rotation speeds of the first power mechanism and the second power mechanism are controlled so that the first power mechanism and the second power mechanism have a differential speed to control the yaw of the UAV; the first power mechanism and the second power mechanism are controlled by the driving mechanism to swing upward or downward simultaneously in the along-course direction of the UAV to control the pitch of the UAV; the first power mechanism and / or the second power mechanism are controlled by the driving mechanism to swing upward or downward in the along-course direction of the UAV so that the central axes of the first power mechanism and the second power mechanism are not coplanar to control the roll of the UAV.

[0017] Preferably, the rolling control of the drone specifically includes: Controlling the first power mechanism and the second power mechanism to swing in opposite directions in the up-down direction by the driving mechanism to control the rolling of the UAV; or Controlling the first power mechanism or the second power mechanism to swing upward or downward by the driving mechanism to control the rolling of the UAV; or The first power mechanism is controlled by the driving mechanism to swing upward or downward by a first angle, and the second power mechanism is controlled by the driving mechanism to swing in the same direction by a second angle to control the roll of the UAV, wherein the first angle is not equal to the second angle.

[0018] Preferably, the driving mechanism directly drives the first power mechanism and the second power mechanism.

[0019] The present application proposes a rudderless UAV and a flight attitude control method. The yaw of the UAV can be controlled by controlling the differential speed of the first power mechanism and the second power mechanism. The pitch and roll of the UAV can be controlled by controlling the first power mechanism and the second power mechanism to swing upward or downward by the driving mechanism. The UAV of the present application can realize attitude control in the fixed-wing flight mode of the UAV without relying on the rudder surface. It can not only greatly reduce the dead weight of the whole structure and thus increase the load and endurance of the UAV, but also reduce the manufacturing cost of the UAV and improve its reliability. In addition, the driving mechanism adopts the method of direct drive of the hollow cup servo. This transmission method is not only sensitive to response, but also can avoid the occurrence of virtual position under long-term or large load conditions, resulting in the rotation angle of the power mechanism not being in place. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate the embodiments and are used together with the description to explain the principles of the present invention. It will be easy to recognize other embodiments and many expected advantages of the embodiments because they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale with each other. The same reference numerals refer to corresponding similar parts.

[0021] Figure 1 is a schematic structural diagram of a rudderless drone according to a specific embodiment of the present application; Figure 2 It is a cross-sectional view for highlighting the driving mechanism and the power mechanism according to a specific embodiment of the present application; Figure 3 is a schematic diagram of yaw control of a rudderless UAV according to a specific embodiment of the present application; Figure 4 is a schematic diagram of pitch control of a rudderless UAV according to a specific embodiment of the present application; Figure 5 is a schematic diagram of roll control of a rudderless UAV according to a specific embodiment of the present application; Figure 6 is a schematic diagram of the rotation direction of three power mechanisms according to a specific embodiment of the present application; Figure 7It is a flow chart of a flight attitude control method of a rudderless UAV according to a specific embodiment of the present application.

[0022] Explanation of the accompanying drawings: 1. UAV; 11. Body; 12. Wing; 13. Power arm; 14. Drive mechanism; 15. First power mechanism; 16. Second power mechanism; 17. Tail rod; 18. Tail wing; 19. Third power mechanism; 1a. Tilt motor seat; 1b. Drive motor; 1c. Propeller. DETAILED DESCRIPTION

[0023] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0024] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0025] The present application proposes a rudderless drone. The specific structure of the rudderless drone according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0026] See also Figure 1The UAV 1 includes a body 11, wings 12, a power arm 13, a driving mechanism 14, a first power mechanism 15, a second power mechanism 16, a tail rod 17 and a tail wing 18. Among them, there are two wings 12, power arms 13, and driving mechanisms 14. The wings 12 are divided into wings 12 symmetrically arranged on the left and right sides of the fuselage 1, and no rudder is set; power arms 13 are symmetrically arranged on the wings 12 on both sides along the center of gravity of the fuselage, and the power arms 13 extend horizontally along the heading direction of the UAV 1; the driving mechanism 14 is installed at one end of the power arms 13 away from the wings 12; the first power mechanism 15 and the second power mechanism 16 are directly connected to the driving mechanisms 14 on both sides of the wings 12 respectively, so as to swing upward or downward in the heading direction of the UAV 1, so as to adjust the flight attitude of the UAV 1, and the swing angle range of the first power mechanism 15 and the second power mechanism 16 from upward to downward is greater than 90°; the tail rod 17 is connected to the rear of the fuselage 11 and extends along the length direction of the fuselage 11, and the central axis of the tail rod 17 is colinear with the symmetry line of the driving mechanisms 14 on both sides; the tail wing 18 is connected to the end of the tail rod 17, and no rudder is set on the tail wing 18 either. The first power mechanism 15 and the second power mechanism 16 rotate in opposite directions, and the first power mechanism 15 and the second power mechanism 16 rotate toward the outer sides of the machine body 11 respectively.

[0027] For details, please refer to Figure 2 The power arm 13 is open at one end away from the wing 12, and the driving mechanism 14 is a coreless servo 14, which is installed at the opening of the power arm 13, and the coreless servo 14 directly drives the first power mechanism 15 and the second power mechanism 16. The first power mechanism 15 and the second power mechanism 16 both include a tilt motor seat 1a, a driving motor 1b and a propeller 1c, the tilt motor seat 1a is directly connected to the coreless servo 14, the driving motor 1b is installed on the tilt motor seat 1a, and is in driving connection with the propeller 1c.

[0028] When the drone 1 flies in fixed-wing flight mode, the yaw of the drone 1 is controlled by controlling the differential speed between the drive motor 1b of the first power mechanism 15 and the second power mechanism 16; the drive motor 1b is directly driven by the hollow cup servo 14, thereby driving the first power mechanism 15 and / or the second power mechanism 16 to swing upward or downward in the direction of the drone 1, so as to control the pitch and roll of the drone 1. The specific control is as follows: Yaw Control: See Figure 3, control the rotation speed of the first power mechanism 15 to be greater than the rotation speed of the second power mechanism 16, that is, the pulling force F1 of the drive motor 1b of the first power mechanism 15 is greater than the pulling force F2 of the drive motor 1b of the second power mechanism 16, at this time, the UAV 1 will deflect to the right side in the direction of the flight; similarly, control the rotation speed of the first power mechanism 15 to be less than the rotation speed of the second power mechanism 16, that is, the pulling force F1 of the drive motor 1b of the first power mechanism 15 is less than the pulling force F2 of the drive motor 1b of the second power mechanism 16, at this time, the UAV 1 will deflect to the left side in the direction of the flight.

[0029] Pitch Control: See Figure 4 When the first power mechanism 15 and the second power mechanism 16 are controlled to swing downward at the same time, the UAV 1 will dive downward; similarly, when the first power mechanism 15 and the second power mechanism 16 are controlled to swing upward at the same time, the UAV 1 will pitch upward.

[0030] Roll Control: See Figure 5 , control the first power mechanism 15 to swing downward and the second power mechanism 16 to swing upward, the UAV 1 will roll counterclockwise in the direction of the course; similarly, control the first power mechanism 15 to swing upward and the second power mechanism 16 to swing downward, the UAV 1 will roll clockwise in the direction of the course.

[0031] For roll control, the following other control methods may be used: control one of the first power mechanism 15 and the second power mechanism 16 to swing upward or downward, so that the central axes of the first power mechanism 15 and the second power mechanism 16 are not coplanar; control the first power mechanism 15 to swing upward or downward by a first angle, and control the second power mechanism 16 to swing in the same direction by a second angle, the first angle ≠ the second angle, so that the central axes of the first power mechanism 15 and the second power mechanism 16 are not coplanar.

[0032] It should be noted that the rotation directions of the first power mechanism 15 and the second power mechanism 16 of the embodiment of the present application are respectively toward the outer sides of the body 11. Under this rotation direction, when the UAV 1 flies in the fixed-wing flight mode, the induced drag can be effectively offset, thereby improving the fixed-wing flight performance of the entire aircraft.

[0033] The drone 1 of the present application can achieve attitude control in the fixed-wing flight mode of the drone 1 by controlling the differential speed between the first power mechanism 15 and the second power mechanism 16, and driving the first power mechanism 15 and / or the second power mechanism 16 to swing upward or downward through the driving mechanism 14 without relying on the rudder surface. This can not only significantly reduce the dead weight of the entire structure, thereby increasing the drone's load and endurance, but also reduce the manufacturing cost of the drone 1 and improve reliability. In addition, the driving mechanism 14 adopts a direct drive method of a hollow cup servo 14. This transmission method is not only responsive, but also can avoid the occurrence of a virtual position under a long period of time or a large load state, resulting in the power mechanism rotating at an inadequate angle.

[0034] Please continue reading Figure 1 The drone also includes at least one third power mechanism 19 disposed at the rear of the fuselage. The third power mechanism 19 uses a transmission mode in which a drive motor drives a propeller, which is not described in detail here. In this embodiment, one third power mechanism 19 is provided, and the third power mechanism 19 is provided on the tail rod 17, and the third power mechanism 19 is provided upward.

[0035] See also Figure 6 In this embodiment, the rotation direction of the third power mechanism 19 is opposite to that of the first power mechanism 15.

[0036] Specifically, in this embodiment, the third power mechanism is equivalent to a rotor. When the UAV takes off or lands in a multi-rotor flight mode, the first power mechanism and the second power mechanism are opened and swung upward at the same time. The first power mechanism, the second power mechanism and the third power mechanism together constitute a three-rotor, thereby controlling the take-off and landing of the UAV.

[0037] Based on the above-mentioned rudderless UAV, based on the same inventive concept, this application also proposes a flight attitude control method for the rudderless UAV. Figure 7 The flight attitude control method of the rudderless UAV includes the following steps: Step S100, controlling the driving mechanism so that the first power mechanism and the second power mechanism maintain a horizontal forward posture in the UAV's down-flight direction, and controlling the UAV to fly in a fixed-wing flight mode.

[0038] In a specific embodiment, when the UAV meets the conditions for entering the fixed-wing flight mode, the third power mechanism is turned off, and the driving mechanism is controlled so that the first power mechanism and the second power mechanism maintain a horizontal forward posture in the direction of the UAV's heading. At this time, the UAV flies forward in the fixed-wing flight mode.

[0039] Step S200, control the rotation speed of the first power mechanism and the second power mechanism so that the first power mechanism and the second power mechanism have a differential speed to control the yaw of the UAV; control the first power mechanism and the second power mechanism to swing upward or downward simultaneously in the along-course direction of the UAV through the driving mechanism to control the pitch of the UAV; control the first power mechanism and / or the second power mechanism to swing upward or downward in the along-course direction of the UAV through the driving mechanism so that the central axes of the first power mechanism and the second power mechanism are not coplanar to control the roll of the UAV.

[0040] In a specific embodiment, the driving mechanism directly drives the first power mechanism and the second power mechanism. This transmission method is not only sensitive, but also can avoid the occurrence of a virtual position under a long time or a large load state, resulting in the power mechanism not rotating at the right angle. In other embodiments, the driving mechanism can also drive the power mechanism through an indirect transmission method such as a gear rack.

[0041] In a specific embodiment, the yaw control of the UAV includes: controlling the rotation speed of the first power mechanism to be greater than the rotation speed of the second power mechanism, that is, the driving motor tension F1 of the first power mechanism is greater than the driving motor tension F2 of the second power mechanism, at which time the UAV deflects to the right in the direction of the course; controlling the rotation speed of the first power mechanism to be less than the rotation speed of the second power mechanism, that is, the driving motor tension F1 of the first power mechanism is less than the driving motor tension F2 of the second power mechanism, at which time the UAV deflects to the left in the direction of the course.

[0042] In a specific embodiment, the pitch control of the UAV includes: when the first power mechanism and the second power mechanism are controlled to swing downward at the same time, the UAV dives downward; when the first power mechanism and the second power mechanism are controlled to swing upward at the same time, the UAV pitches upward.

[0043] In a specific embodiment, the roll control of the UAV includes: controlling the first power mechanism to swing downward and the second power mechanism to swing upward, and the UAV rolls counterclockwise in the direction of the course; controlling the first power mechanism to swing upward and the second power mechanism to swing downward, and the UAV rolls clockwise in the direction of the course.

[0044] In other embodiments, the roll control of the drone may also include: controlling one of the first power mechanism and the second power mechanism to swing upward or downward so that the central axes of the first power mechanism and the second power mechanism are not coplanar, and the drone rolls clockwise or counterclockwise in the forward direction.

[0045] In other embodiments, the roll control of the UAV may also include: controlling the first power mechanism to swing upward or downward at a first angle, controlling the second power mechanism to swing in the same direction at a second angle, the first angle ≠ the second angle, so that the central axes of the first power mechanism and the second power mechanism are not coplanar, and the UAV rolls clockwise or counterclockwise in the direction of the heading.

[0046] In summary, when the UAV flies in fixed-wing flight mode, the yaw of the UAV is controlled by controlling the differential speed between the first power mechanism and the second power mechanism; the first power mechanism and / or the second power mechanism are driven by the driving mechanism to swing upward or downward in the direction of the UAV's flight to control the pitch and roll of the UAV. Therefore, the UAV of the embodiment of the present application can achieve attitude control in the fixed-wing flight mode of the UAV by controlling the differential speed between the first power mechanism and the second power mechanism, and by driving the first power mechanism and / or the second power mechanism to swing upward or downward without relying on the rudder, which can not only significantly reduce the dead weight of the entire structure and thus increase the UAV's load and endurance, but also reduce the manufacturing cost of the UAV and improve the reliability of flight control.

[0047] In the embodiments of the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device / system / method embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0048] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0049] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0050] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0051] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalents, the present invention is also intended to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are recorded in mutually different dependent claims does not indicate that the combination of these measures cannot be used to profit. Any reference numerals in the claims should not be considered to limit the scope.

Claims

1. A rudderless drone, characterized in that: The drone comprises: A fuselage, wherein the fuselage has two side wings as lift surfaces, and the two side wings are not provided with rudder surfaces; a first power mechanism and a second power mechanism, wherein the first power mechanism and the second power mechanism are respectively arranged on the two side wings, and the rotation directions of the first power mechanism and the second power mechanism are respectively toward the outer sides of the two side wings; and The driving mechanisms are respectively arranged on the wings on both sides, and are used to drive the first power mechanism and / or the second power mechanism to swing upward or downward in the forward direction of the UAV to adjust the flight attitude of the UAV, wherein the swing angle range of the first power mechanism and the second power mechanism is greater than 90°.

2. The wings on both sides are symmetrically provided with power arms along the center of gravity of the fuselage, the power arms extend along the length direction of the fuselage, and the driving mechanism is installed at one end of the power arms away from the wings on both sides.

3. The rudderless drone according to claim 1, characterized in that: The driving mechanism is a coreless steering gear, and the coreless steering gear directly drives the first power mechanism and the second power mechanism.

4. The rudderless drone according to claim 1, characterized in that: The first power mechanism and the second power mechanism both include a tilt motor seat, a drive motor and a propeller. The tilt motor seat is connected to the drive mechanism. The drive motor is installed on the tilt motor seat and is drivingly connected to the propeller.

5. The rudderless drone according to claim 1, characterized in that: The machine body further comprises at least one third power mechanism, which is arranged at the rear of the machine body and faces upwards, and the rotation direction of the third power mechanism is opposite to that of the first power mechanism.

6. The rudderless drone according to claim 5, characterized in that: The number of the third power mechanism is one, a tail rod is arranged at the rear of the machine body along its length direction, the central axis of the tail rod is colinear with the symmetry line of the power support arm, and the third power mechanism is arranged on the tail rod.

7. The rudderless drone according to claim 6, characterized in that: The body also includes a tail wing, which is arranged at the end of the tail rod, and the tail wing is not provided with a rudder surface.

8. A method for controlling the flight attitude of a rudderless UAV, characterized in that: Applied to the rudderless drone according to any one of claims 1 to 7, the method comprising: Controlling the driving mechanism so that the first power mechanism and the second power mechanism maintain a horizontal forward posture in the heading direction of the UAV, and controlling the UAV to fly in a fixed-wing flight mode; The rotational speeds of the first power mechanism and the second power mechanism are controlled so that the first power mechanism and the second power mechanism have a differential speed to control the yaw of the UAV; the first power mechanism and the second power mechanism are controlled by the driving mechanism to swing upward or downward simultaneously in the along-course direction of the UAV to control the pitch of the UAV; the first power mechanism and / or the second power mechanism are controlled by the driving mechanism to swing upward or downward in the along-course direction of the UAV so that the central axes of the first power mechanism and the second power mechanism are not coplanar to control the roll of the UAV.

9. The method according to claim 8, characterized in that The rolling control of the drone specifically includes: Controlling the first power mechanism and the second power mechanism to swing in opposite directions in the up-down direction by the driving mechanism to control the rolling of the UAV; or Controlling the first power mechanism or the second power mechanism to swing upward or downward by the driving mechanism to control the rolling of the UAV; or The first power mechanism is controlled by the driving mechanism to swing upward or downward by a first angle, and the second power mechanism is controlled by the driving mechanism to swing in the same direction by a second angle to control the roll of the UAV, wherein the first angle is not equal to the second angle.

10. The method according to claim 9, characterized in that The driving mechanism directly drives the first power mechanism and the second power mechanism.

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