Methods for launching and landing an unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-11726500-B2
Application number	US-202117221524-A
Country	US
Kind code	B2
Filing date	Apr 2, 2021
Priority date	Dec 13, 2013
Publication date	Aug 15, 2023
Grant date	Aug 15, 2023

Abstract

An unmanned aerial vehicle (UAV) landing method includes detecting, via one or more visual sensors, a gesture or movement of an operator of a UAV; and controlling to decelerate, with aid of one or more processors and in response to the detected gesture or movement, one or more rotor blades of the UAV to cause the UAV to land autonomously.

First claim

What is claimed is:

1. An unmanned aerial vehicle (UAV) landing method comprising:
detecting, via one or more visual sensors, a gesture or movement of an operator of a UAV;
detecting a positional change of the UAV while the UAV is airborne;
detecting an external contact from an external object exerted upon the UAV, the external object being an object that is not part of the UAV; and
controlling to decelerate, with aid of one or more processors and in response to at least two of a plurality of conditions being satisfied, one or more rotor blades of the UAV to cause the UAV to land autonomously, the plurality of conditions including:
the gesture or movement of an operator of the UAV being detected;
the positional change being detected; and
the external contact being detected.

2. The landing method of claim 1 , wherein the one or more visual sensors are located on-board or off-board the UAV.

3. The landing method of claim 1 , wherein the one or more visual sensors include a camera located on the UAV.

4. The landing method of claim 1 , wherein the one or more visual sensors include at least one of an image sensor, a photo sensor, or a motion detector.

5. The landing method of claim 1 , wherein controlling to decelerate the one or more rotor blades of the UAV to cause the UAV to land autonomously includes:
receiving a deceleration signal from a controller of the UAV, the controller being configured to generate the deceleration signal in response to the detected gesture or movement; and
controlling to decelerate, in response to the deceleration signal being received, the one or more rotor blades of the UAV to cause the UAV to land autonomously.

6. The landing method of claim 1 , wherein controlling to decelerate the one or more rotor blades of the UAV to cause the UAV to land autonomously includes:
controlling the UAV to land at a designated location.

7. The landing method of claim 1 , wherein controlling to decelerate the one or more rotor blades of the UAV to cause the UAV to land autonomously includes:
controlling to bring the one or more rotor blades of the UAV to a stop in response to detecting a contact of the UAV with a landing surface.

8. The landing method of claim 1 , wherein detecting the positional change of the UAV while the UAV is airborne includes:
detecting the positional change of the UAV while the UAV is hovering near or is passing by a person.

9. The landing method of claim 1 , wherein the positional change of the UAV includes a change of a location of the UAV with respect to a frame of reference or a reference object.

10. The landing method of claim 1 , wherein the positional change of the UAV includes a change of an orientation of the UAV.

11. The landing method of claim 10 , wherein the positional change is caused by tilting or turning the UAV by a certain angle.

12. The landing method of claim 1 , wherein the gesture or movement of the operator includes a gesture or movement of at least one of a hand, arm, head, facial feature, or eyes of the operator.

13. The landing method of claim 1 , wherein the gesture or movement of the operator includes at least one of a wave of a hand or arm of the operator, a turn of a head of the operator, or a movement of an eye of the operator.

14. An unmanned aerial vehicle (UAV), comprising:
one or more rotor blades;
one or more sensors configured to, while the UAV is airborne:
detect a gesture or movement of an operator of the UAV;
detect a positional change of the UAV while the UAV is airborne;
detect an external contact from an external object exerted upon the UAV, the external object being an object that is not part of the UAV and

one or more processors configured to control to decelerate, in response to at least two of a plurality of conditions being satisfied, the one or more rotor blades of the UAV to cause the UAV to land autonomously, the plurality of conditions including:
the gesture or movement of an operator of the UAV being detected;
the positional change being detected; and
the external contact being detected.

15. The UAV of claim 14 , wherein the one or more sensors include at least one of an image sensor, a photo sensor, or a motion detector.

16. The UAV of claim 14 , wherein the one or more processors are further configured to:
receive a deceleration signal from a controller of the UAV, the controller being configured to generate the deceleration signal in response to the detected gesture or movement; and
control to decelerate, in response to the deceleration signal being received, the one or more rotor blades of the UAV to cause the UAV to land autonomously.

17. The UAV of claim 14 , wherein the gesture or movement of the operator includes at least one of a wave of a hand or arm of the operator, a turn of a head of the operator, or a movement of an eye of the operator.

18. An unmanned aerial vehicle (UAV) landing method, comprising:
detecting an external contact exerted by a human hand upon a UAV while the UAV is airborne; and
controlling to decelerate, with aid of one or more processors and in response to the detected external contact, one or more rotor blades of the UAV to cause the UAV to land autonomously.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Wang Mingyu

Classifications

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/652

  Take-off (delivering or retrieving payloads G05D1/667) · CPC title

• G05D1/654

  Landing (docking at a base station G05D1/661) · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64U2101/60

  for transporting passengers; for transporting goods other than weapons · CPC title