US 12,130,636 B2
Methods and system for autonomous landing
Peiliang Li, Shenzhen (CN); Xuyang Feng, Shenzhen (CN); Cong Zhao, Shenzhen (CN); Jie Qian, Shenzhen (CN); and You Zhou, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Jul. 3, 2023, as Appl. No. 18/346,463.
Application 18/346,463 is a continuation of application No. 17/457,810, filed on Dec. 6, 2021, granted, now 11,693,428.
Application 17/457,810 is a continuation of application No. 16/285,388, filed on Feb. 26, 2019, granted, now 11,194,344, issued on Dec. 7, 2021.
Application 16/285,388 is a continuation of application No. PCT/CN2016/096833, filed on Aug. 26, 2016.
Prior Publication US 2023/0350428 A1, Nov. 2, 2023
Int. Cl. G05D 1/00 (2024.01); B64C 39/02 (2023.01); B64U 70/00 (2023.01)
CPC G05D 1/042 (2013.01) [B64C 39/024 (2013.01); G05D 1/0676 (2013.01); B64U 70/00 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for controlling a movable object, comprising:
identifying a set of target markers based on a plurality of images captured by an imaging device carried by the movable object, the set of target markers including at least two or more types of target markers and being in close proximity to be detected within a same field of view of the imaging device, the at least two or more types of target markers including a first type of target marker and a heading marker, the heading marker indicating a heading for the movable object when landed by a relative position between the heading marker and a center of the first type of target marker or by a geometric shape or an orientation of the heading marker, and the heading marker being not encoded with information; and
controlling the movable object to fly based on the set of target markers, including:
controlling the movable object to approach the set of target markers based at least in part on a spatial relationship between the movable object and the first type of target marker.