Patent ID: 11947366
Assignee: AUTEL ROBOTICS CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B  Y | IPC B  G

Claim 8:
9. An unmanned aerial vehicle (UAV), comprising:
a body;
arms, connected to the body;
a power apparatus, disposed on the arms, configured to provide flight power for the UAV;
a flight controller, disposed on the arms;
a ground detection sensor, configured to acquire ground environment information;
wherein the flight controller comprises:
at least one processor; and
a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions, when executed by the at least one processor, enabling the at least one processor to perform the following operations:
acquiring ground environment information when the UAV is in a severe low-power protection state;
obtaining landing safety judgment information according to the ground environment information;
controlling a flight state of the UAV according to the landing safety judgment information to realize a safe landing of the UAV;
acquiring a current flight altitude of the UAV when the UAV is in the severe low-power protection state;
determining whether the current flight altitude exceeds a preset altitude threshold;
in response to determining the current flight altitude exceeds a preset altitude threshold, shielding an upward flight control command; and

wherein the controlling a flight state of the UAV according to the landing safety judgment information to realize a safe landing of the UAV comprises:
controlling the UAV to hover and keep still when the landing safety judgment information is dangerous landing information;
acquiring a manual control command, and controlling the UAV to deviate from a current position according to the manual control command; and
keeping acquiring the ground environment information, and controlling the flight state of the UAV according to the landing safety judgment information to realize the safe landing of the UAV.