# US 12,216,479 B2 · Methods for launching and landing an unmanned aerial vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,479 B2 - Document ID: US12216479B2 - Status: Granted - Kind: B2 - Application number: 18/449,447 - Filed: 2023-08-14 - Published: 2023-12-21 - Granted: 2025-02-04 - Earliest claimed: 2017-05-30 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Mingyu Wang - Web page: https://patentgrep.com/patent/US12216479B2 ## CPC - G05D 1/0669: {specially adapted for vertical take-off} - A63H 27/12: {Helicopters (A63H27/04 takes precedence); Flying tops} - B64U 10/10: Rotorcrafts - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - B64U 20/80: Arrangement of on-board electronics, e.g. avionics systems or wiring - B64U 50/00: Propulsion; Power supply - B64U 60/20: specially adapted for uneven terrain - B64U 70/10: for releasing or capturing UAVs by hand - B64U 70/95: Means for guiding the landing UAV towards the platform, e.g. lighting means - B64U 80/30: with arrangements for data transmission - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/0676: {specially adapted for landing} - G05D 1/223: Command input arrangements on the remote controller, e.g. joysticks or touch screens - G05D 1/652: Take-off (delivering or retrieving payloads G05D1/667) - G05D 1/654: Landing (docking at a base station G05D1/661) - B64U 2101/30: for imaging, photography or videography - B64U 2101/60: for transporting passengers; for transporting goods other than weapons - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U 2201/20: Remote controls - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A63H: TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract An aerial vehicle landing method includes controlling to decelerate, with aid of one or more processors and in response to at least two of a plurality of conditions being satisfied, the aerial vehicle to cause the aerial vehicle to land autonomously. The plurality of conditions includes determining that an external signal related to a human is detected via one or more sensors; determining that a location/orientation change of the aerial vehicle is detected while the aerial vehicle is airborne; and determining that an external contact from an external object is exerted upon the aerial vehicle, the external object being an object that is not part of the aerial vehicle. ## Claims ### Claim 1 An aerial vehicle landing method comprising: controlling to decelerate, with aid of one or more processors and in response to at least two of a plurality of conditions being satisfied, an aerial vehicle to cause the aerial vehicle to land autonomously, the plurality of conditions including: determining that an external signal related to a human is detected via one or more sensors; determining that a location/orientation change of the aerial vehicle is detected while the aerial vehicle is airborne; and determining that an external contact from an external object is exerted upon the aerial vehicle, the external object being an object that is not part of the aerial vehicle. ### Claim 2 (depends on 1) The landing method of claim 1, wherein the external signal includes at least one of a visual signal or an audio signal of the human. ### Claim 3 (depends on 2) The landing method of claim 2, wherein the visual signal includes a gesture, a movement, or an image of the human. ### Claim 4 (depends on 3) The landing method of claim 3, wherein the gesture or movement of the human includes a gesture, a movement, or an image of at least one of a hand, arm, head, facial feature, or eyes of the human. ### Claim 5 (depends on 3) The landing method of claim 3, wherein the gesture or movement of the human includes at least one of a wave of a hand or arm of the human, a turn of a head of the human, or a movement of an eye of the human. ### Claim 6 (depends on 1) The landing method of claim 1, wherein the one or more sensors includes at least one of a visual sensor, an audio sensor, an altimeter, a proximity sensor, or a motion detector. ### Claim 7 (depends on 1) The landing method of claim 1, wherein controlling to decelerate the aerial vehicle to cause the aerial vehicle to land autonomously includes: receiving a deceleration signal from a controller of the aerial vehicle, the controller being configured to generate the deceleration signal in response to the at least two of a plurality of conditions being satisfied; and controlling to decelerate, in response to the deceleration signal being received, the aerial vehicle to cause the aerial vehicle to land autonomously. ### Claim 8 (depends on 1) The landing method of claim 1, wherein controlling to decelerate the aerial vehicle to cause the aerial vehicle to land autonomously includes: controlling the aerial vehicle to land at a designated location. ### Claim 9 (depends on 1) The landing method of claim 1, wherein controlling to decelerate the aerial vehicle to cause the aerial vehicle to land autonomously includes: controlling to bring the aerial vehicle to a stop in response to determining a contact of the aerial vehicle with a landing surface. ### Claim 10 (depends on 9) The landing method of claim 9, wherein: the landing surface includes a human hand; and controlling to bring the aerial vehicle to the stop in response to determining the contact of the aerial vehicle with the landing surface: controlling to bring the aerial vehicle to the stop in response to determining the contact of the aerial vehicle with the human hand. ### Claim 11 (depends on 1) The landing method of claim 1, wherein the aerial vehicle is a rotorcraft including one or more rotor blades, and wherein controlling to decelerate the aerial vehicle includes causing the one or more rotor blades to slow down, stall, or come to a complete stop. ### Claim 12 (depends on 11) The landing method of claim 11, wherein the one or more processors are further configured to: stopping rotation of the one or more rotor blades of the aerial vehicle in response to the external contact of the aerial vehicle after the external contact is sustained for a predetermined time period. ### Claim 13 (depends on 1) The landing method of claim 1, wherein the location/orientation change of the aerial vehicle while the aerial vehicle is airborne includes the location/orientation change of the aerial vehicle while the aerial vehicle is hovering near or is passing by a person. ### Claim 14 (depends on 1) The landing method of claim 1, wherein the location/orientation change of the aerial vehicle includes a change of a location of the aerial vehicle with respect to a frame of reference or a reference object. ### Claim 15 (depends on 1) The landing method of claim 1, wherein the location/orientation change of the aerial vehicle includes at least one of a change of a velocity, a change of an acceleration, a change of an orientation, or a change of a location of the aerial vehicle. ### Claim 16 (depends on 1) The landing method of claim 1, further comprising: detecting the external contact via at least one of a touch sensor, a temperature sensor, a pressure sensor, an altimeter, a proximity sensor, or a photo sensor. ### Claim 17 An aerial vehicle, comprising: one or more processors configured to control to decelerate, in response to at least two of a plurality of conditions being satisfied, the aerial vehicle to cause the aerial vehicle to land autonomously, the plurality of conditions including: determining that an external signal related to a human is detected via one or more sensors; determining that a location/orientation change of the aerial vehicle is detected while the aerial vehicle is airborne; and determining that an external contact from an external object is exerted upon the aerial vehicle, the external object being an object that is not part of the aerial vehicle. ### Claim 18 (depends on 17) The aerial vehicle of claim 17, wherein the one or more processors are further configured to: controlling to bring the aerial vehicle to a stop in response to detecting a contact of the aerial vehicle with a landing surface, the landing surface includes a human hand. ### Claim 19 An aerial vehicle, comprising: one or more processors configured to, in response to detecting, by one or more sensors, an external signal related to a human or a change of a location/orientation of the aerial vehicle caused by the human holding and moving the aerial vehicle: control the aerial vehicle to land on a hand of the human; or control the aerial vehicle to generate a lift and/or thrust, to launch from the hand of the human. ### Claim 20 (depends on 19) The aerial vehicle of claim 19, wherein the external signal includes a gesture, a movement, or an image of the human.