Unmanned aerial vehicle and flying control method thereof

1. An unmanned aerial vehicle, comprising:

a housing having a conductor at a surface;

a positioning information receiver;

at least one sensor that detects a flight state of the unmanned aerial vehicle;

a driving unit comprising an electronic speed controller (ESC) and a motor that operates to fly the unmanned aerial vehicle;

a grip detection circuit positioned within the unmanned aerial vehicle that receives a user grip, the grip detection circuit being electrically connected to the conductor; and

a processor that is connected to the positioning information receiver, the at least one sensor, the driving unit, and the grip detection circuit,

wherein one end of the grip detection circuit is connected to a circuit between the ESC and the motor of the driving unit and another end of the grip detection circuit is connected to the processor,

wherein the conductor is electrically connected to the circuit between the ESC and the motor,

wherein the processor is configured to detect a user grip through the conductor by detecting a capacitance change of the grip detection circuit of the flying unmanned aerial vehicle that corresponds to the user grip,

wherein the processor is configured to control the driving unit based on detection of the user grip and release of the user grip through the grip detection circuit, the positioning information receiver, and the at least one sensor,

wherein the processor is further configured to control the driving unit to stop a hovering mode of the unmanned aerial vehicle, when the user grip is detected at a first position set as a reference position,

wherein the processor is further configured to control the driving unit to turn on the hovering mode, when the release of the user grip is detected at a second position moved from the first position, and reset the second position to the reference position for the hovering mode, and

wherein, when receiving the user grip at the second position, the processor is further configured to control a pairing attempt with an external electronic device.

2. The unmanned aerial vehicle of claim 1 , wherein the at least one sensor comprises one of an acceleration sensor, a magnetometer, a gyro sensor, a barometer, and an optical flow sensor.

3. The unmanned aerial vehicle of claim 1 , wherein one end of the grip detection circuit is connected to a circuit between the ESC of the driving unit and the motor, and the other end of the grip detection circuit is connected to the processor.

4. The unmanned aerial vehicle of claim 1 , wherein one end of the grip detection circuit is connected to a circuit between the ESC of the driving unit and the motor, and the other end of the grip detection circuit is connected to a grip sensor and the processor.

5. The unmanned aerial vehicle of claim 1 , wherein the grip detection circuit comprises a plurality of grip detection circuits, and

wherein the processor detects a capacitance change at an adjacent left grip detection circuit and a right grip detection circuit according to a position of the user grip.

6. The unmanned aerial vehicle of claim 1 , wherein the conductor comprises a conductive pattern disposed on the surface of the housing,

wherein the processor receives a user grip through the conductive pattern.

7. The unmanned aerial vehicle of claim 6 , wherein one end of the grip detection circuit is connected to a circuit between the ESC of the driving unit connected to the conductive pattern and the motor, and the other end of the grip detection circuit is connected to the processor.

8. The unmanned aerial vehicle of claim 6 , wherein one end of the grip detection circuit is connected to a circuit between the ESC of the driving unit connected to the conductive pattern and the motor, and the other end of the grip detection circuit is connected to a grip sensor which is connected to the processor.

9. The unmanned aerial vehicle of claim 6 , wherein the processor detects a capacitance change of the grip detection circuit that corresponds to the user grip.

10. The unmanned aerial vehicle of claim 1 , wherein a number of the grip detection circuits is less than or equal to a number of motors.

11. The unmanned aerial vehicle of claim 1 , wherein a number of the grip detection circuits is less than or equal to a number of ESCs.

12. The unmanned aerial vehicle of claim 1 , wherein the processor controls the driving unit to drive the unmanned aerial vehicle to the second position when the user grip is released and when the second position is different from the first position.

13. The unmanned aerial vehicle of claim 1 , wherein the processor controls the driving unit to terminate driving of the unmanned aerial vehicle at the first position in accordance with detection of the user grip.

14. The unmanned aerial vehicle of claim 1 , wherein the processor detects a capacitance change of the grip detection circuit corresponding to release of the user grip.