US 12,287,645 B2
Multi-rotor unmanned aerial vehicle and control method thereof, control apparatus and computer-readable storage medium
Xiaoliang Wang, Shenzhen (CN); Zhimeng Shang, Shenzhen (CN); and Ximin Lv, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Nov. 2, 2022, as Appl. No. 17/979,483.
Application 17/979,483 is a continuation of application No. PCT/CN2020/089021, filed on May 7, 2020.
Prior Publication US 2023/0315124 A1, Oct. 5, 2023
Int. Cl. G05D 1/08 (2006.01); B64C 39/02 (2023.01); B64U 10/14 (2023.01); G05D 1/00 (2006.01)
CPC G05D 1/0816 (2013.01) [B64C 39/024 (2013.01); B64U 10/14 (2023.01); G05D 1/101 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A multi-rotor unmanned aerial vehicle (UAV) control method, comprising:
obtaining power statuses of rotors of a UAV; and
controlling the UAV to enter a balance mode, upon determining, based on the power statuses, that a rotor of the UAV has a power failure, wherein
in the balance mode, the UAV rotates at an angular velocity greater than a first threshold, and a displacement of the UAV in a horizontal direction is less than a preset displacement amount, and the controlling of the UAV to enter the balance mode includes:
obtaining a first control parameter of the UAV,
obtaining a feedforward parameter of the UAV,
redistributing lift forces to the rotors of the UAV based on the feedforward parameter and the first control parameter, and
controlling, based on redistributed lift forces of the rotors, motors of the rotors of the UAV to rotate to enable the UAV to rotate at the angular velocity greater than the first threshold, and have the displacement in the horizontal direction less than the preset displacement amount.