# US 2019/0168889 A1 · Method, device and system for guiding unmanned aerial vehicle to land

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- Number: US 2019/0168889 A1
- Document ID: US20190168889A1
- Status: Published application
- Kind: A1
- Application number: 16/323,137
- Filed: 2017-07-05
- Published: 2019-06-06
- Earliest claimed: 2016-08-04
- Assignees: Beijing Jingdong Shangke Information Technology Co., Ltd.; Beijing Jingdong Century Trading Co., Ltd.
- Applicants: Beijing Jingdong Shangke Information Technology Co, Ltd.; Beijing Jingdong Century Trading Co., Ltd.
- Inventors: Song HAN
- Web page: https://patentgrep.com/patent/US20190168889A1

## CPC

- G06V 20/13: Satellite images
- B64D 45/08: optical
- B64F 1/18: Visual or acoustic landing aids
- B64U 70/95: Means for guiding the landing UAV towards the platform, e.g. lighting means
- G05D 1/042: {specially adapted for aircraft}
- G05D 1/0676: {specially adapted for landing}
- G06F 18/22: Matching criteria, e.g. proximity measures
- G06V 10/761: {Proximity, similarity or dissimilarity measures}
- G06V 20/17: taken from planes or by drones
- B64U 2101/30: for imaging, photography or videography
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

The present disclosure provides a method, a device and a system for guiding an unmanned aerial vehicle to land. A navigation equipment on the unmanned aerial vehicle sends a landing instruction to the ground, so that a landing platform receiving the landing instruction displays a landing pattern. The navigation equipment scans image of the ground to identify the landing pattern, and guides the unmanned aerial vehicle to land at the landing pattern and land on the landing platform eventually. The landing platform displays a landing pattern according to the received instruction, and the unmanned aerial vehicle lands at the landing pattern, so that the unmanned aerial vehicle lands quickly and conveniently without extensive calculation.

## Claims

### Claim 1

A method for guiding an unmanned aerial vehicle to land, comprising:
sending a landing instruction to a landing platform, so that the landing platform displays a landing pattern;
identify identifying the landing pattern; and
guiding the unmanned aerial vehicle to land at the landing pattern.

### Claim 2 (depends on 1)

The method according to claim 1, further comprising:
sending a landing success information to the landing platform after the unmanned aerial vehicle lands on the landing platform, so that the landing platform cancels the display of the landing pattern.

### Claim 3 (depends on 1)

The method according to claim 1, wherein the landing instruction comprises a pattern identifier, so that the landing pattern displayed by the landing platform corresponds to the pattern identifier.

### Claim 4 (depends on 3)

The method according to claim 3, wherein the identifying the landing pattern comprises:
scanning image of the ground to identify a matching pattern corresponding to the pattern identifier; and
using the matching pattern as the landing pattern in the presence of only one matching pattern.

### Claim 5 (depends on 4)

The method according to claim 4, wherein
the landing instruction is resent to the ground in the presence of a plurality of matching patterns, wherein the landing instruction comprises a reselected pattern identifier, so that the landing pattern displayed by the landing platform corresponds to the reselected pattern identifier.

### Claim 6 (depends on 1)

The method according to claim 1, wherein the sending a landing instruction to the landing platform comprises:
sending the landing instruction to the landing platform after the unmanned aerial vehicle arrives at a designated area; or,
sending the landing instruction to the landing platform after receiving broadcast information sent by the landing platform.

### Claim 7

A method for guiding an unmanned aerial vehicle to land, comprising:
receiving a landing instruction sent by a navigation equipment in the unmanned aerial vehicle; and
displaying a landing pattern on a landing platform after receiving the landing instruction, so that the unmanned aerial vehicle lands at the landing pattern.

### Claim 8 (depends on 7)

The method according to claim 7, further comprising:
canceling the display of the landing pattern after receiving a landing success information sent by the navigation equipment in the unmanned aerial vehicle.

### Claim 9 (depends on 7)

The method according to claim 7, wherein the displaying a landing pattern after receiving the landing instruction comprises:
extracting a pattern identifier from the landing instruction after receiving the landing instruction; and
displaying the landing pattern corresponding to the pattern identifier.

### Claim 10 (depends on 7)

The method according to claim 7, wherein the landing platform is a mobile platform.

### Claim 11

Navigation equipment for guiding an unmanned aerial vehicle to land, comprising:
a sending unit, configured to send a landing instruction to a landing platform, so that the landing platform displays a landing pattern;
a image scanning unit, configured to identify the landing pattern; and
a landing control unit, configured to guide the unmanned aerial vehicle to land at landing pattern.

### Claim at position 12

12-13. (canceled)

### Claim 14 (depends on 11)

The navigation equipment according to claim 11, wherein
the landing instruction comprises a pattern identifier, and
the image scanning unit is configured to scan image of the ground to identify a matching pattern corresponding to the pattern identifier, and use the matching pattern as the landing pattern in the presence of only one matching pattern.

### Claim 15 (depends on 14)

The navigation equipment according to claim 14, wherein
the image scanning unit is further configured to instruct the sending unit to resend the landing instruction to the ground in the presence of a plurality of matching patterns, wherein the landing instruction comprises a reselected pattern identifier, so that the landing pattern displayed by the landing platform corresponds to the reselected pattern identifier.

### Claim 16 (depends on 11)

The navigation equipment according to claim 11, further comprising:
a area identification unit, configured to identify an area where the unmanned aerial vehicle is currently located; and
the landing control unit configured to send the landing instruction to the ground after the area identification unit determines that the unmanned aerial vehicle arrives at the designated area.

### Claim 17 (depends on 11)

The navigation equipment according to claim 11, further comprising:
a receiving unit, configured to receive broadcast information sent by the landing platform; and
the landing control unit configured to send the landing instruction to the ground after the receiving unit receives the broadcast information sent by the landing platform.

### Claim 18 (depends on 1)

Navigation equipment for guiding an unmanned aerial vehicle to land, comprising:
a memory, configured to store instructions; and
a processor, coupled to the memory, and the processor is configured to perform the method according to claim 1 based on the instructions stored in the memory.

### Claim 19 (depends on 11)

An unmanned aerial vehicle, comprising the navigation equipment according to claim 11.

### Claim at position 19

20-23. (canceled)

### Claim 24 (depends on 7)

A landing platform for guiding an unmanned aerial vehicle to land, comprising:
a memory, configured to store instructions; and
a processor, coupled to the memory, and the processor is configured to perform the method according to claim 7 based on the instructions stored in the memory.

### Claim 25 (depends on 19)

An unmanned aerial vehicle navigation system, comprising:
the unmanned aerial vehicle according to claim 19, and
a landing platform comprising
a memory, configured to store instructions; and
a processor, coupled to the memory, and the processor is configured the following steps based on the instructions stored in the memory:
receiving a landing instruction sent by a navigation equipment in the unmanned aerial vehicle; and
displaying a landing pattern on a landing platform after receiving the landing instruction, so that the unmanned aerial vehicle lands at the landing pattern.

### Claim 26 (depends on 1)

A computer non-transitory readable storage medium storing a computer program that, when being executed by a processor, implements the method according to claim 1.