Patent ID: 11919637
Assignee: AUTEL ROBOTICS CO., LTD.
Field: Control (Instruments)
Classification: CPC B  G  Y | IPC B  G

Claim 10:
11. A UAV, comprising:
a body;
an arm connected to the body;
a power apparatus disposed on the arm and configured to provide lift force or motive force for the UAV to fly;
at least one processor disposed on the body; and
a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions, when executed by the at least one processor, causing the at least one processor to:
obtain current return information, environmental information and a remaining battery level of the UAV in real time, wherein the return information comprises a return route, a return distance, a return acceleration pedal depression amount and a power consumption rate corresponding to the return acceleration pedal depression amount for the UAV to return from a current position to a return point, and the environmental information comprises information about a vertical air stream on the return route;
determine, according to the return information and the environmental information, a total power consumption for the UAV to return from the current position to the return point; and
control the UAV to return automatically when a difference between the remaining battery level and the total power consumption is less than or equal to a battery level threshold;
wherein the processor is further configured to:
determine, according to the return information, a basic power consumption for the UAV to return from the current position to the return point without an influence of the vertical air stream;
determine, according to the information about the vertical air stream on the return route, an additional power consumption for the UAV to return from the current position to the return point; and
determine, based on the basic power consumption and the additional power consumption, the total power consumption for the UAV to return from the current position to the return point;
wherein the processor is specifically configured to:
determine, according to the information about the vertical air stream, whether a vertical air stream region exists on the return route; and
in response to the vertical air stream region exists on the return route, determine that the additional power consumption for the UAV to return from the current position to the return point is 0; or
in response to the vertical air stream region does not exist on the return route, determine, according to a range and an air stream strength of the vertical air stream region, the additional power consumption for the UAV to return from the current position to the return point.