# US 2019/0317530 A1 · Systems and methods of unmanned aerial vehicle flight restriction for stationary and moving objects > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0317530 A1 - Document ID: US20190317530A1 - Status: Published application - Kind: A1 - Application number: 16/428,951 - Filed: 2019-05-31 - Published: 2019-10-17 - Earliest claimed: 2016-12-01 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Bingzhen YANG; Guofang ZHANG; Tao WANG; Chang GENG - Web page: https://patentgrep.com/patent/US20190317530A1 ## CPC - G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones} - G08G 5/22: located on the ground - G08G 5/25: Transmission of traffic-related information between aircraft - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/55: for a single aircraft - G08G 5/57: for unmanned aircraft - G08G 5/59: in accordance with predefined flight zones, e.g. to avoid prohibited zones - G08G 5/723: {from the aircraft} - G08G 5/74: for monitoring terrain - G08G 5/80: Anti-collision systems - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A method for controlling flight of an unmanned aerial vehicle (UAV) includes obtaining information about a location of an object of interest, and calculating, during operation of the UAV, a flight-restricted distance for the UAV to maintain relative to the object of interest. The flight-restricted distance is calculated based on a safety factor and the safety factor is determined based on an object classification. The method further includes controlling flight of the UAV to maintain the flight-restricted distance relative to the object of interest. ## Claims ### Claim 1 A method for controlling flight of an unmanned aerial vehicle (UAV), the method comprising: obtaining information about a location of an object of interest; calculating, during operation of the UAV, a flight-restricted distance for the UAV to maintain relative to the object of interest, wherein the flight-restricted distance is calculated based on a safety factor, wherein the safety factor is determined based on an object classification; and controlling flight of the UAV to maintain the flight-restricted distance relative to the object of interest. ### Claim 2 (depends on 1) The method of claim 1, wherein the object classification is indicative of a type of object of interest, wherein the type of object of interest is selected from a plurality of types of objects of interest. ### Claim 3 (depends on 1) The method of claim 1, wherein the object classification is indicative of a movement characteristic of the object of interest, wherein the safety factor corresponds to the object of interest's speed capability. ### Claim 4 (depends on 1) The method of claim 1, wherein the object classification is indicative of a priority associated with the object of interest, wherein the safety factor corresponds to the priority. ### Claim 5 (depends on 1) The method of claim 1, wherein the flight-restricted distance is calculated as a weighted sum of one or more of: (i) a distance safety margin; (ii) a maximum deviation in the UAV's location data; (iii) a maximum deviation in the object of interest's location data; (iv) a required minimum distance between the UAV and the object of interest; and (v) a braking distance needed to stop the UAV. ### Claim 6 (depends on 1) The method of claim 1, wherein the flight-restricted distance is a flight-restricted height for the UAV to maintain relative to the object of interest, wherein the safety factor is a height safety factor determined based on the object classification. ### Claim 7 (depends on 6) The method of claim 6, wherein the flight-restricted height is calculated as a weighted sum of one or more of: (i) a height safety margin; (ii) a maximum deviation in the UAV's height data; (iii) a maximum deviation in the object of interest's height data; (iv) a required minimum height distance between the UAV and the object of interest; and (v) a braking height distance needed to stop the UAV. ### Claim 8 (depends on 1) The method of claim 1, wherein the flight-restricted distance is indicative of a distance to a boundary of a flight-restriction region surrounding the object of interest, wherein the boundary of the flight restriction regions surrounding the object of interest is variable. ### Claim 9 (depends on 1) The method of claim 1, wherein the information about the location of the object of interest is broadcast from the object of interest at one or more time points. ### Claim 10 (depends on 1) The method of claim 1, wherein the information about the location of the object of interest is associated with the location of the object of interest at a time point and comprises one or more of: latitude, longitude, altitude, speed, and direction. ### Claim 11 (depends on 1) The method of claim 1, wherein controlling the flight of the UAV to maintain the flight-restricted distance relative to the object of interest comprises obtaining information about a location of the UAV. ### Claim 12 (depends on 11) The method of claim 11, wherein the information about the location of the UAV is associated with the location of the UAV at a time point and comprises one or more of: latitude, longitude, altitude, speed, and direction. ### Claim 13 (depends on 1) The method of claim 1, wherein controlling the flight of the UAV comprises performing a flight response measure. ### Claim 14 (depends on 13) The method of claim 13, wherein the flight response measure is selected from the group consisting of: changing speed, changing direction, changing acceleration, changing altitude, landing, and returning to a predetermined location. ### Claim 15 An apparatus for controlling flight of an unmanned aerial vehicle (UAV), the apparatus comprising: one or more processors configured to: obtain information about a location of an object of interest; calculate, during operation of the UAV, a flight-restricted distance for the UAV to maintain relative to the object of interest, wherein the flight-restricted distance is calculated based on a safety factor, wherein the safety factor is determined based on an object classification; and control flight of the UAV to maintain the flight-restricted distance relative to the object of interest. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the object classification is indicative of a type of object of interest, wherein the type of object of interest is selected from a plurality of types of objects of interest. ### Claim 17 (depends on 15) The apparatus of claim 15, wherein the object classification is indicative of a movement characteristic of the object of interest. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the safety factor corresponds to the object of interest's speed capability. ### Claim 19 (depends on 15) The apparatus of claim 15, wherein the flight-restricted distance is calculated as a weighted sum of one or more of: (i) a distance safety margin; (ii) a maximum deviation in the UAV's location data; (iii) a maximum deviation in the object of interest's location data; (iv) a required minimum distance between the UAV and the object of interest; and (v) a braking distance needed to stop the UAV. ### Claim 20 A method for controlling flight of an unmanned aerial vehicle (UAV), the method comprising: obtaining information about a location of an object of interest; calculating, during operation of the UAV, a flight-restricted distance for the UAV to maintain relative to the object of interest, wherein the flight-restricted distance is calculated based on (1) a communication delay between the object of interest and the UAV, or (2) a data acquisition delay at the object of interest in providing the information about the location of the object of interest; and controlling flight of the UAV to maintain the flight-restricted distance relative to the object of interest.