`Xu et al .
`
`US 11,462,116 B2
`( 10 ) Patent No .:
`Oct. 4 , 2022
`( 45 ) Date of Patent :
`
`US011462116B2
`
`( * ) Notice :
`
`( 54 ) POLYGON SHAPED VEHICLE
`RESTRICTION ZONES
`( 71 ) Applicant : SZ DJI TECHNOLOGY CO . , LTD . ,
`Shenzhen ( CN )
`( 72 ) Inventors : Xinan Xu , Shenzhen ( CN ) ; Yun Yu ,
`Shenzhen ( CN ) ; Canlong Lin ,
`Shenzhen ( CN ) ; Xi Chen , Shenzhen
`( CN ) ; Mingyu Wang , Shenzhen ( CN ) ;
`Jianyu Song , Shenzhen ( CN )
`( 73 ) Assignee : SZ DJI TECHNOLOGY CO . , LTD . ,
`Shenzhen ( CN )
`Subject to any disclaimer , the term of this
`patent is extended or adjusted under 35
`U.S.C. 154 ( b ) by 0 days .
`( 21 ) Appl . No .: 17 / 523,847
`( 22 ) Filed :
`Nov. 10 , 2021
`( 65 )
`Prior Publication Data
`US 2022/0068143 A1
`Mar. 3 , 2022
`Related U.S. Application Data
`( 63 ) Continuation of application No. 16 / 810,631 , filed on
`Mar. 5 , 2020 , which is a continuation of application
`( Continued )
`Foreign Application Priority Data
`( 30 )
`Mar. 9 , 2015 ( WO )
`PCT / CN2015 / 073915
`( 51 ) Int . Cl .
`GO8G 5/00
`G05D 1/02
`
`( 52 ) U.S. Cl .
`CPC
`
`vo
`
`( 2006.01 )
`( 2020.01 )
`( Continued )
`
`G08G 5/006 ( 2013.01 ) ; B64C 39/024
`( 2013.01 ) ; B64D 47/08 ( 2013.01 ) ; G05D
`1/0214 ( 2013.01 ) ;
`( Continued )
`
`( 58 ) Field of Classification Search
`???
`GO8G 5/006 ; GO8G 5/0004 ; GO8G 5/0013 ;
`GO8G 5/0021 ; GO8G 5/0026 ;
`( Continued )
`
`( 56 )
`
`CN
`CN
`
`References Cited
`U.S. PATENT DOCUMENTS
`8/1989 Meng
`4,862,373 A
`5,631,640 A
`5/1997 Deis et al .
`( Continued )
`FOREIGN PATENT DOCUMENTS
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`1222970 A
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`OTHER PUBLICATIONS
`Communication to USPTO for U.S. Appl . No. 14 / 262,563 dated
`Oct. 29 , 2015 , 28 pages .
`
`( Continued )
`Primary Examiner — Mary Cheung
`( 74 ) Attorney , Agent , or Firm — Perkins Coie LLP
`
`ABSTRACT
`( 57 )
`Systems , methods , and devices are provided for controlling
`an unmanned aerial vehicle ( UAV ) associated with flight
`response measures . The flight response measure may be
`generated by assessing one or more flight - restriction strips ,
`assessing at least one of a location or a movement charac
`teristic of the UAV relative to the one or more flight
`restriction strips , and directing , with aid of one or more
`processors , the UAV to take one or more flight response
`measures based on at least one of the location or movement
`characteristic of the UAV relative to the one or more
`flight - restriction strips .
`
`a
`
`23 Claims , 22 Drawing Sheets
`
`*
`
`.
`
`
`
`mit sit
`
`Textron Specialized Vehicles Inc., Exh. 1001, p. 1
`
`
`
`US 11,462,116 B2
`Page 2
`
`Related U.S. Application Data
`No. 157699,359 , filed on Sep. 8 , 2017 , now Pat . No.
`10,586,463 , which is a continuation of application
`No. PCT / CN2015 / 098149 , filed on Dec. 21 , 2015 .
`( 51 ) Int . Ci .
`G05D 1/10
`B64C 39/02
`B64D 47/08
`( 52 ) U.S. CI .
`CPC
`
`( 2006.01 )
`( 2006.01 )
`( 2006.01 )
`
`G05D 1/106 ( 2019.05 ) ; G08G 5/0004
`( 2013.01 ) ; G08G 5/0013 ( 2013.01 ) ; G08G
`5/0021 ( 2013.01 ) ; G08G 5/0026 ( 2013.01 ) ;
`G08G 5/0052 ( 2013.01 ) ; G08G 5/0069
`( 2013.01 ) ; G08G 5/0082 ( 2013.01 ) ; B64C
`2201/024 ( 2013.01 ) ; B64C 2201/127
`( 2013.01 ) ; B64C 2201/141 ( 2013.01 ) ; B64C
`2201/146 ( 2013.01 )
`( 58 ) Field of Classification Search
`CPC GO8G 5/0052 ; G08G 5/0069 ; GO8G 5/0082 ;
`B64C 39/024 ; B64C 2201/024 ; B64C
`2201/127 ; B64C 2201/141 ; B64C
`2201/146 ; B64D 47/08 ; G05D 1/106 ;
`G05D 1/101
`See application file for complete search history .
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`
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`
`Sheet 1 of 22
`
`US 11,462,116 B2
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`Textron Specialized Vehicles Inc., Exh. 1001, p. 5
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`
`
`U.S. Patent
`
`Oct. 4 , 2022
`
`Sheet 2 of 22
`
`US 11,462,116 B2
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`
`
`DAN BARU
`
`
`
`Radius : 4.5 miles
`
`Radius . Smiles
`
`
`
`Radius : 5.5 miles
`
`Textron Specialized Vehicles Inc., Exh. 1001, p. 6
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`
`
`U.S. Patent
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`Textron Specialized Vehicles Inc., Exh. 1001, p. 7
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`
`Oct. 4 , 2022
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`US 11,462,116 B2
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`Textron Specialized Vehicles Inc., Exh. 1001, p. 8
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`Oct.4.2022
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`Sheet 5 of 22
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`US 11,462,116 B2
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`Textron Specialized Vehicles Inc., Exh. 1001, p. 9
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`Oct. 4 , 2022
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`Textron Specialized Vehicles Inc., Exh. 1001, p. 10
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`
`U.S. Patent
`
`Oct. 4 , 2022
`
`Sheet 7 of 22
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`US 11,462,116 B2
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`-
`
`Textron Specialized Vehicles Inc., Exh. 1001, p. 11
`
`
`
`U.S. Patent
`
`Oct. 4 , 2022
`
`Sheet 8 of 22
`
`US 11,462,116 B2
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`Textron Specialized Vehicles Inc., Exh. 1001, p. 12
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`
`U.S. Patent
`
`Oct. 4 , 2022
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`Sheet 9 of 22
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`US 11,462,116 B2
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`2015
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`Textron Specialized Vehicles Inc., Exh. 1001, p. 13
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`5
`
`SUMMARY
`
`30
`
`1
`POLYGON SHAPED VEHICLE
`RESTRICTION ZONES
`
`2
`flight - restriction strips ; assess at least one of ( 1 ) a location ,
`or ( 2 ) a movement characteristic of the UAV relative to the
`one or more flight - restriction strips ; and direct the UAV to
`take one or more flight response measures based on at least
`CROSS - REFERENCE TO RELATED
`one of the location or movement characteristic of the UAV
`APPLICATIONS
`relative to the one or more flight - restriction strips .
`In another aspect , an unmanned aerial vehicle ( UAV ) is
`This application is a continuation of U.S. patent applica
`provided . The UAV comprises : one or more propulsion units
`tion Ser . No. 16 / 810,631 , filed Mar. 5 , 2020 , which is a
`configured to effect flight of the UAV ; and one or more
`continuation of U.S. patent application Ser . No. 157699,359 ,
`filed on Sep. 8 , 2017 , which is a continuation of Interna- 10 processors that direct the UAV to take one or more flight
`response measures in response to at least one of an assessed
`tional Application No. PCT / CN2015 / 098149 , filed on Dec.
`( 1 ) location , or ( 2 ) movement characteristic of the UAV
`21 , 2015 , which claims priority to International Application
`relative to one or more flight - restriction strips .
`No. PCT / CN2015 / 073
`5 , filed on Mar. 9 , 2015 .
`In another aspect , a method for supporting flight restric
`tion is provided . The method comprises : generating , with aid
`15 of one or more processors , a flight restriction zone using one
`BACKGROUND
`or more flight - restriction strips , wherein the one or more
`Aerial vehicles such as unmanned aerial vehicles ( UAVs )
`flight - restriction strips require the UAV to take one or more
`flight response measures based on at least one of an assessed
`can be used for performing surveillance , reconnaissance ,
`and exploration tasks for military and civilian applications .
`( 1 ) location , or ( 2 ) movement characteristic of the UAV
`Such vehicles may carry a payload configured to perform a 20 relative to the one or more flight restriction strips .
`specific function .
`In another aspect , an apparatus for supporting flight
`It may be desirable to provide flight restriction zones in
`restriction is provided . The apparatus comprises one or more
`order to affect UAV behavior in certain regions . For
`controllers running on one or more processors , individually
`example , it may be desirable to provide flight restriction
`or collectively , configured to : generate a flight restriction
`near airports or important buildings . In some 25 zone using one or more flight - restriction strips , wherein the
`zones
`instances , the flight restriction zones may best be repre-
`one or more flight - restriction strips require the UAV to take
`sented by shapes , such as regular or irregular polygon
`one or more flight response measures based on at least one
`shapes .
`of an assessed ( 1 ) location , or ( 2 ) movement characteristic
`of the UAV relative to the one or more flight - response strips .
`In another aspect , a non - transitory computer readable
`medium for supporting flight restriction is provided . The
`non - transitory computer readable medium comprises code ,
`In some instances , it may be desirable to control or limit
`flight of an aerial ve icle , such as an unmanned aerial
`logic , or instructions to : generate a flight restriction zone
`using one or more flight - restriction strips , wherein the one or
`vehicle ( UAV ) , within or near regions that are irregularly
`shaped . Thus , a need exists for providing improved flight 35 more flight - restriction strips require the UAV to take one or
`restriction zones that are irregularly shaped , and for provid-
`more flight response measures based on at least one of an
`ing associated flight response measures for UAVs within or
`assessed ( 1 ) location , or ( 2 ) movement characteristic of the
`near the flight restriction zones . The flight restriction zones
`UAV relative to the one or more flight - response strips .
`may be generated with flight restriction strips . The present
`It shall be understood that different aspects of the disclo
`disclosure provides systems , methods , computer readable 40 sure can be appreciated individually , collectively , or in
`mediums , and devices related to flight restriction strips and
`combination with each other . Various aspects of the disclo
`associated flight response measures of a UAV relative to the
`sure described herein may be applied to any of the particular
`flight restriction strips .
`applications set forth below or for any other types of
`Thus , in one aspect , a method for controlling an
`movable objects . Any description herein of aerial vehicles ,
`unmanned aerial vehicle ( UAV ) is provided . The method 45 such as unmanned aerial vehicles , may apply to and be used
`comprises : assessing one or more flight - restriction strips ;
`for any movable object , such as any vehicle . Additionally ,
`assessing at least one of ( 1 ) a location , or ( 2 ) movement
`the systems , devices , and methods disclosed herein in the
`characteristic of the UAV relative to the one or more
`context of aerial motion ( e.g. , flight ) may also be applied in
`flight - restriction strips , and directing , with aid of one or
`the context of other types of motion , such as movement on
`more processors , the UAV to take one or more flight 50 the ground or on water , underwater motion , or motion in
`response measures based on at least one of the location or
`space .
`the movement characteristic of the UAV relative to the one
`Other objects and features of the present disclosure will
`or more flight - restriction strips .
`become apparent by a review of the specification , claims ,
`and appended figures .
`In another aspect , an apparatus for controlling an
`unmanned aerial vehicle ( UAV ) is provided . The apparatus 55
`comprises one or more controllers running on one or more
`INCORPORATION BY REFERENCE
`processors , individually or collectively configured to : assess
`All publications , patents , and patent applications men
`one or more flight - restriction strips ; assess at least one of ( 1 )
`tioned in this specification are herein incorporated by ref
`a location , or ( 2 ) a movement characteristic of the UAV
`relative to the one or more flight - restriction strips ; and direct 60 erence to the same extent as if each individual publication ,
`the UAV to take one or more flight response measures based
`patent , or patent application was specifically and individu
`on at least one of the location or movement characteristic of
`ally indicated to be incorporated by reference .
`the UAV relative to the one or more flight - restriction strips .
`In another aspect , a non - transitory computer readable
`BRIEF DESCRIPTION OF THE DRAWINGS
`medium for controlling an unmanned aerial vehicle ( UAV ) 65
`is provided . The non - transitory computer readable medium
`The novel features of the disclosure are set forth with
`comprises code , logic , or instructions to : assess one or more
`particularity in the appended claims . A better understanding
`
`Textron Specialized Vehicles Inc., Exh. 1001, p. 27
`
`
`
`US 11,462,116 B2
`
`4
`3
`of the features and advantages of the present disclosure will
`DETAILED DESCRIPTION OF THE
`be obtained by reference to the following detailed descrip
`DISCLOSURE
`tion that sets forth illustrative embodiments , in which the
`principles of the disclosure are utilized , and the accompa-
`The systems , methods , computer readable mediums , and
`nying drawings of which :
`5 devices of the present disclosure provide flight restriction
`FIG .
`1 provides an example of unmanned aerial vehicle
`strips , flight restriction zones generated by the flight restric
`locations relative to a flight - restricted region , in accordance
`tion strips , and associated flight response measures of a UAV
`relative to the flight restriction strips and / or zones . The flight
`with an embodiment of the disclosure .
`FIG . 2 shows an example of a plurality of flight - restricted
`restriction zones as used herein may refer to any region in
`region proximity zones , in accordance with an embodiment 10 which it is possible to limit or affect operation of an aerial
`vehicle . The aerial vehicle may be an unmanned aerial
`of the disclosure .
`FIG . 3 provides an additional example of plurality of
`vehicle ( UAV ) , or any other type of movable object . Some
`flight - restricted region proximity zones in accordance with
`jurisdictions may have one or more no - fly zones where
`UAVs are not permitted to fly ( e.g. , flight prohibited
`an embodiment of the disclosure .
`FIG . 4 provides an example of a plurality of types of 15 regions ) . For example , in the US , UAVs may not fly within
`flight - restricted regions and their related proximity zones , in
`certain proximities of airports . Additionally , it may be
`prudent to restrict flight of aerial vehicles in certain regions .
`accordance with an embodiment of the disclosure .
`FIG . 5 provides a flight restricted region having a regular
`For example , it may be prudent to restrict flight of aerial
`shape and an irregular shape , in accordance with an embodi-
`vehicles in large cities , across national borders , near gov
`20 ernmental buildings , and the like .
`ment of the disclosure .
`FIG . 6 provides flight restricted region defined by a
`The flight restriction zones may be provided around
`plurality of flight restricted strips , in accordance with an
`and / or overlap regions where restriction of flight is desired .
`Regions where restriction of flight is desired may also be
`embodiment of the disclosure .
`FIG . 7 provides an example of a flight restricted region of
`referred to herein as flight restricted regions . The flight
`a regular shape around a region of irregular shape , in 25 restriction zones may be generated and may have arbitrary
`shapes ( e.g. , circular shapes ) or shapes that mimic the flight
`accordance with embodiments .
`FIG . 8 provides an oblique view of a flight ceiling , in
`restricted regions . The regions where restriction of aerial
`vehicles is desired may comprise irregular shapes . For
`accordance with embodiments .
`FIG . 9 provides a side view of a flight restricted region ,
`example , the flight restricted regions may best be defined by
`30 irregular polygonal shapes . Therefore , a need exists to
`in accordance with embodiments .
`FIG . 10 provides a schematic illustration of an unmanned
`provide flight restricted zones having irregular shapes .
`aerial vehicle in communication with an external device , in
`In some instances , flight restricted zones having regular
`shapes may be provided . In some instances , the flight
`accordance with an embodiment of the disclosure .
`FIG . 11 provides an example of an unmanned aerial
`restricted zone may be generated or determined based on a
`vehicle using a global positioning system ( GPS ) to deter- 35 threshold distance , or proximity , from a location of one or
`mine the location of the unmanned aerial vehicle , in accor-
`more flight restricted regions . For example , a location of one
`or more flight - restricted regions , such as airports , may be
`dance with an embodiment of the disclosure .
`FIG . 12 is an example of an unmanned aerial vehicle in
`stored on - board the UAV .
`communication with a mobile device , in accordance with an
`Alternatively or in addition , information about the loca
`40 tion of one or more flight - restricted regions may be accessed
`embodiment of the disclosure .
`FIG . 13 is an example of an unmanned aerial vehicle in
`from a data source off - board the UAV . For example , if the
`Internet or another network is accessible , the UAV may
`communication with one or more mobile devices , in accor-
`obtain information regarding flight restriction regions from
`dance with an embodiment of the disclosure .
`FIG . 14 provides an example of unmanned aerial vehicle
`a server online . The one or more flight - restricted regions
`with an on - board memory unit , in accordance with an aspect 45 may be associated each with one or more flight response
`measures . The one or more flight response measures may be
`of the disclosure .
`FIG . 15 shows an example of an unmanned aerial vehicle
`stored on - board the UAV . Alternatively or in addition , infor
`mation about the one or more flight response measures may
`in relation to multiple flight - restricted regions , in accordance
`with an embodiment of the disclosure .
`be accessed from a data source off - board the UAV . For
`FIG . 16 shows an example of a flight limitation feature in 50 example , if the Internet or another network is accessible , the
`UAV may obtain information regarding flight response mea
`accordance with an embodiment of the disclosure .
`may
`FIG . 17 illustrates an unmanned aerial vehicle , in accor-
`sures from a server online . The location of the UAV
`be
`determined . This may occur prior to take - off of the UAV
`dance with an embodiment of the disclosure .
`FIG . 18 illustrates a movable object including a carrier
`and / or while the UAV is in flight . In some instances , the
`and a payload , in accordance with an embodiment of the 55 UAV may have a GPS receiver that may be used to deter
`mine the location of the UAV . In other examples , the UAV
`disclosure .
`FIG . 19 is a schematic illustration by way of block
`may be in communication with an external device , such as
`diagram of a system for controlling a movable object , in
`a mobile control terminal . The location of the external
`device may be determined and used to approximate the
`accordance with an embodiment of the disclosure .
`FIG . 20 illustrates an irregular polygon area defined by a 60 location of the U
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