# US 2017/0285663 A1 · Aerial vehicle control method and aerial vehicle

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- Number: US 2017/0285663 A1
- Document ID: US20170285663A1
- Status: Published application
- Kind: A1
- Application number: 15/622,363
- Filed: 2017-06-14
- Published: 2017-10-05
- Earliest claimed: 2014-12-15
- Assignees: Sz Dji Technology Co., Ltd.
- Applicants: Sz Dji Technology Co., Ltd.
- Inventors: Yun YU
- Web page: https://patentgrep.com/patent/US20170285663A1

## CPC

- G01S 19/42: Determining position
- G05D 1/0011: {associated with a remote control arrangement}
- B64U 10/13: Flying platforms
- B64U 10/25: Fixed-wing aircraft (VTOL aircraft B64U10/20)
- B64U 50/30: Supply or distribution of electrical power
- B64U 2201/20: Remote controls
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

An aerial vehicle control method includes, upon receipt of an auto return instruction, controlling power output of an aerial vehicle in accordance with return point position information to cause the aerial vehicle to return to a return point indicated by the return point position information, and during returning to the return point, if a flight control instruction is detected, adjusting the power output of the aerial vehicle in accordance with the flight control instruction.

## Claims

### Claim 1

An aerial vehicle control method, comprising:
upon receipt of an auto return instruction, controlling power output of an aerial vehicle in accordance with return point position information to cause the aerial vehicle to return to a return point indicated by the return point position information; and
during returning to the return point, if a flight control instruction is detected, adjusting the power output of the aerial vehicle in accordance with the flight control instruction.

### Claim 2 (depends on 1)

The aerial vehicle control method of claim 1, wherein adjusting the power output of the aerial vehicle in accordance with the flight control instruction comprises:
during returning to the return point, detecting whether the flight control instruction for the aerial vehicle is received; and
if the flight control instruction is received, adjusting the power output of the aerial vehicle in accordance with the return point position information and the flight control instruction.

### Claim 3 (depends on 2)

The aerial vehicle control method of claim 2, wherein adjusting the power output of the aerial vehicle in accordance with the return point position information and the flight control instruction comprises:
generating a control instruction in accordance with the return point position information and the flight control instruction, and
sending the control instruction to a power assembly to control the power output of the aerial vehicle.

### Claim 4 (depends on 2)

The aerial vehicle control method of claim 2, wherein adjusting the power output of the aerial vehicle in accordance with the return point position information and the flight control instruction comprises:
superimposing the fight control instruction and a return instruction generated in accordance with the return point position information to generate a superimposed instruction, and
controlling the power output of the aerial vehicle in accordance with the superimposed instruction.

### Claim 5 (depends on 1)

The aerial vehicle control method of claim 1, wherein adjusting the power output of the aerial vehicle comprises:
adjusting a speed of the power assembly of the aerial vehicle to control at least one of a flight speed, a flight altitude, or a flight direction of the aerial vehicle.

### Claim 6 (depends on 1)

The aerial vehicle control method of claim 1, wherein adjusting the power output of the aerial vehicle in accordance with the flight control instruction comprises:
during returning to the return point, detecting whether the flight control instruction for the aerial vehicle is received; and
if the flight control instruction is received:
suspending a control over the power output of the aerial vehicle in accordance with the return point position information,
adjusting the power output of the aerial vehicle in accordance with the flight control instruction, and
after adjustment on the power output of the aerial vehicle in accordance with the flight control instruction is completed, turning on the control over the power output of the aerial vehicle in accordance with the return point position information to cause the aerial vehicle to continue to return to the return point.

### Claim 7 (depends on 6)

The aerial vehicle control method of claim 6, wherein turning on the control over the power output of the aerial vehicle in accordance with the return point position information comprises:
waiting for a preset time period after the adjustment on the power output of the aerial vehicle in accordance with the flight control instruction is completed before turning on the control over the power output of the aerial vehicle in accordance with the return point position information.

### Claim 8 (depends on 1)

The aerial vehicle control method of claim 1, wherein adjusting the power output of the aerial vehicle in accordance with the flight control instruction comprises:
during returning to the return point, detecting whether the flight control instruction for the aerial vehicle is received; and
if the flight control instruction is received, controlling the power output of the aerial vehicle in accordance with the flight control instruction.

### Claim 9

An aerial vehicle, comprising:
a power assembly configured to provide power output for the aerial vehicle; and
a flight control system configured to, upon receipt of an auto return instruction:
control the power output of the power assembly in accordance with return point position information to cause the aerial vehicle to return to a return point indicated by the return point position information, and
during returning to the return point, if a flight control instruction is detected, adjust the power output of the power assembly in accordance with the flight control instruction.

### Claim 10 (depends on 9)

The aerial vehicle of claim 9, wherein the flight control system is further configured to, during returning to the return point:
detect whether the flight control instruction for the aerial vehicle is received; and
if the flight control instruction is received, adjust the power output of the power assembly in accordance with the return point position information and the flight control instruction.

### Claim 11 (depends on 10)

The aerial vehicle of claim 10, wherein the flight control system is further configured to:
generate a control instruction in accordance with the return point position information and the flight control instruction, and
control the power output of the power assembly in accordance with the control instruction.

### Claim 12 (depends on 10)

The aerial vehicle of claim 10, wherein the flight control system is further configured to:
superimpose the flight control instruction and a return instruction generated in accordance with the return point position information to generate a superimposed instruction, and
control the power output of the power assembly in accordance with the superimposed instruction.

### Claim 13 (depends on 9)

The aerial vehicle of claim 9, wherein the flight control system is configured to adjust a speed of the power assembly to control at least one of a flight speed, a flight altitude, or a flight direction of the aerial vehicle.

### Claim 14 (depends on 9)

The aerial vehicle of claim 9, wherein the flight control system is further configured to:
during returning to the return point, detect whether the flight control instruction for the aerial vehicle is received; and
if a flight control instruction is received:
suspend a control over the power output of the power assembly in accordance with the return point position information,
adjust the power output of the power assembly in accordance with the flight control instruction, and
after adjustment on the power output of the power assembly in accordance with the flight control instruction is completed, turn on the control over the power output of the power assembly in accordance with the return point position information.

### Claim 15 (depends on 14)

The aerial vehicle of claim 14, wherein the flight control system is further configured to wait for a preset time period after the adjustment on the power output of the power assembly in accordance with the flight control instruction is completed before turning on the control over the power output of the power assembly in accordance with the return point position information.

### Claim 16 (depends on 9)

The aerial vehicle of claim 9, wherein the flight control system is further configured to:
during returning to the return point, detect whether the flight control instruction for the aerial vehicle is received; and
if the flight control instruction is received, control the power output of the aerial vehicle in accordance with the flight control instruction.