# US 10,372,124 B2 · Electric unmanned aerial vehicle and an intelligent method of protecting electricity thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,124 B2 - Document ID: US10372124B2 - Status: Granted - Kind: B2 - Application number: 15/406,005 - Filed: 2017-01-13 - Published: 2017-05-04 - Granted: 2019-08-06 - Earliest claimed: 2014-07-16 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Renli Shi; Jianyu Song; Xi Chen - Web page: https://patentgrep.com/patent/US10372124B2 ## CPC - G05D 1/0055: {with safety arrangements} - B64U 50/30: Supply or distribution of electrical power - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract An electric unmanned aerial vehicle includes a position sensor configured to obtain coordinate information of a present position of the electric unmanned aerial vehicle in real-time, a memory storing coordinate information of a preset position of the electric unmanned aerial vehicle, and a controller in communication with the position sensor and the memory and being configured to calculate a safety electricity amount needed by the electric unmanned aerial vehicle to perform a safety protection command based on the coordinate information of the present position and the coordinate information of the preset position, compare the safety electricity amount with a present remaining electricity amount of a battery of the electric unmanned aerial vehicle, and perform a safety protection command if the present remaining electricity amount is not greater than the safety electricity amount. ## Claims ### Claim 1 An electric unmanned aerial vehicle, comprising: a position sensor configured to obtain coordinate information of a present position of the electric unmanned aerial vehicle in real-time; a memory storing coordinate information of a preset position of the electric unmanned aerial vehicle; and a controller in communication with the position sensor and the memory, and being configured to: calculate a plurality of safety electricity amounts based on the coordinate information of the present position and the coordinate information of the preset position, the plurality of safety electricity amounts corresponding to a plurality of safety protection commands, respectively, compare a present remaining electricity amount of a battery of the electric unmanned aerial vehicle with the plurality of safety electricity amounts to select a safety electricity amount that corresponds to the present remaining electricity amount, and perform one of the plurality of safety protection commands that corresponds to the selected safety electricity amount. ### Claim 2 (depends on 1) The electric unmanned aerial vehicle according to claim 1, wherein the position sensor comprises at least one of a GPS sensor or a height sensor. ### Claim 3 (depends on 2) The electric unmanned aerial vehicle according to claim 2, wherein the height sensor comprises at least one of a barometric altimeter, a laser altimeter, a radio altimeter, an ultrasound wave altimeter, or an image distance-measuring sensor. ### Claim 4 (depends on 1) The electric unmanned aerial vehicle according to claim 1, wherein the controller comprises: a computing unit configured to calculate the plurality of safety electricity amounts and a comparator configured to determine a relation between the present remaining electricity amount of the battery and the plurality of safety electricity amounts; or a microprocessor configured to calculate the plurality of safety electricity amounts and determine the relation between the present remaining electricity amount and the plurality of safety electricity amounts. ### Claim 5 (depends on 1) The electric unmanned aerial vehicle according to claim 1, wherein the controller comprises an electricity detecting circuit configured to detect the present remaining electricity amount in real-time. ### Claim 6 (depends on 5) The electric unmanned aerial vehicle according to claim 5, wherein the electricity detecting circuit includes at least one of an analog-digital sampling circuit or a current meter. ### Claim 7 (depends on 1) The electric unmanned aerial vehicle according to claim 1, wherein: the battery includes a smart battery configured to detect the present remaining electricity amount, and the controller is in communication with the smart battery to obtain the present remaining electricity amount. ### Claim 8 (depends on 1) The electric unmanned aerial vehicle according to claim 1, wherein: the plurality of safety electricity amounts comprise a return electricity amount needed by the electric unmanned aerial vehicle to return from the present position to the preset position, a landing electricity amount needed by the electric unmanned aerial vehicle to land directly from the present position, and a deploying electricity amount needed by the electric unmanned aerial vehicle to deploy a safety device, and the plurality of safety protection commands comprise a command of returning to the preset position, a command of landing directly from the present position, and a command of deploying the safety device. ### Claim 9 (depends on 1) The electric unmanned aerial vehicle according to claim 1, wherein the selected safety electricity amount comprises a landing electricity amount needed by the electric unmanned aerial vehicle to land directly from the present position. ### Claim 10 (depends on 9) The electric unmanned aerial vehicle according to claim 9, wherein the controller is configured to perform a command of landing directly from the present position if the present remaining electricity amount is not greater than the landing electricity amount. ### Claim 11 (depends on 9) The electric unmanned aerial vehicle according to claim 9, wherein: the selected safety electricity amount further comprises a returning electricity amount needed by the electric unmanned aerial vehicle to return from the present position to the preset position, and the controller is further configured to control the electric unmanned aerial vehicle to continue a normal flight if the present remaining electricity amount is greater than the return electricity amount and the landing electricity amount. ### Claim 12 (depends on 11) The electric unmanned aerial vehicle according to claim 11, wherein the controller is further configured to automatically perform the command of returning to the preset position if the present remaining electricity amount is greater than the landing electricity amount but not greater than the return electricity amount. ### Claim 13 (depends on 12) The electric unmanned aerial vehicle according to claim 12, further comprising a sensor configured to detect an obstacle in a preset range around the electric unmanned aerial vehicle, wherein the controller is further configured to plan a return path that avoids the obstacle. ### Claim 14 (depends on 13) The electric unmanned aerial vehicle according to claim 13, wherein the sensor comprises at least one of an infrared distance-measuring sensor, an ultrasound wave distance-measuring sensor, an image distance-measuring sensor, a laser distance-measuring sensor, or a microwave radar distance-measuring sensor. ### Claim 15 (depends on 12) The electric unmanned aerial vehicle according to claim 12, wherein the controller is further configured to select a return path for the electric unmanned aerial vehicle to return from the present position to the preset position as one of: an original flight path, a combination of a linear path in a horizontal direction and a linear path in a vertical direction between the present position and the preset position, and a direct linear path between the present position and the preset position. ### Claim 16 (depends on 15) The electric unmanned aerial vehicle according to claim 15, wherein the return path is automatically set by the controller or set by a user. ### Claim 17 (depends on 16) The electric unmanned aerial vehicle according to claim 16, wherein the controller is configured to automatically select the return path according to a preset criterion, and calculate the return electricity amount based on the selected return path. ### Claim 18 (depends on 17) The electric unmanned aerial vehicle according to claim 17, wherein the preset criterion comprises at least one of a path having a least electricity consumption, a path having a shortest return trip, or a path having a least speed change. ### Claim 19 (depends on 11) The electric unmanned aerial vehicle according to claim 11, further comprising: a prompting device in communication with the controller, the prompting device being configured to provide a prompting signal as to whether to perform a return to the preset position if the present remaining electricity amount is greater than the landing electricity amount but not greater than the return electricity amount. ### Claim 20 (depends on 1) The electric unmanned aerial vehicle according to claim 1, wherein the controller is further configured to calculate the present remaining electricity amount by subtracting a preset electricity amount from an actual remaining electricity amount of the battery.