US 11,726,500 B2
Methods for launching and landing an unmanned aerial vehicle
Mingyu Wang, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Apr. 2, 2021, as Appl. No. 17/221,524.
Application 17/221,524 is a continuation of application No. 16/157,338, filed on Oct. 11, 2018, granted, now 10,969,795.
Application 16/157,338 is a continuation of application No. 15/608,417, filed on May 30, 2017, granted, now 10,101,748, issued on Oct. 16, 2018.
Application 15/608,417 is a continuation of application No. 14/236,305, granted, now 9,696,725, issued on Jul. 4, 2017, previously published as PCT/CN2013/089443, filed on Dec. 13, 2013.
Prior Publication US 2021/0223791 A1, Jul. 22, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 21/16 (2006.01); G05D 1/06 (2006.01); A63H 27/00 (2006.01); B64C 39/02 (2023.01); G05D 1/00 (2006.01); B64U 10/13 (2023.01); B64U 70/00 (2023.01)
CPC G05D 1/0669 (2013.01) [A63H 27/12 (2013.01); B64C 39/024 (2013.01); G05D 1/0011 (2013.01); G05D 1/0676 (2013.01); B64U 10/13 (2023.01); B64U 70/00 (2023.01)] 18 Claims
OG exemplary drawing
 
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.