Open platform for restricted flight areas

Abstract

An open platform for restricted fly zones. The present invention provides systems and methods for collecting information about restricted fly zones. This information can be approved, or the identity of the user entering such information can be verified. Designated restricted fly zones can be displayed on a three-dimensional map and utilized by unmanned aerial vehicles, for example, in conjunction with flight response measures.

Description

Background of the Invention

[0001] Aircraft such as unmanned aerial vehicles (UAVs) can be used to perform surveillance, reconnaissance, and exploration missions for military and civilian applications. Such vehicles can carry payloads configured to perform specific functions.

[0002] Each country's air traffic control agency (e.g., the FAA in the United States) has various regulations for the airspace near airports or other areas. In addition, even if there are no explicit regulations, various public and private parties may also desire to restrict the operation of such aircraft with respect to certain areas. Summary of the Invention

[0003] In some cases, it may be desirable to provide a platform for managing restricted fly zones for aircraft. Such a platform can provide centralized management for entering, managing, and accessing restricted fly zones. For example, the platform can provide an interface for various users to enter restricted fly zones, can aggregate the input and approve or reject the proposed restricted fly zones, can record or store the restricted fly zones, can display the restricted fly zones, can be downloaded and utilized by UAV operators (e.g., to approve or reject a proposed flight path based on the restricted fly zones), or can be used to grant access to the restricted fly zones (e.g., by temporarily lifting restrictions to grant access).

[0004] Thus, in one aspect, a method of collecting information about a plurality of restricted fly zones is provided, the method comprising: receiving input from a user input device specifying parameters of the restricted fly zones, wherein the parameters include locations of the restricted fly zones; and determining, with one or more processors, a space for each of the restricted fly zones, wherein the space is dependent on the parameters of the restricted fly zones.

[0005] In some embodiments, the input is received from multiple users via corresponding user input devices, and the space is a three-dimensional space. In some embodiments, the parameters of the restricted fly zone include a radius of the restricted fly zone. In some embodiments, the three-dimensional space for the restricted fly zone defines a cylindrical shape. In some embodiments, the three-dimensional space for the restricted fly zone defines a sphere or a hemisphere. In some embodiments, the parameters of the restricted fly zone include an altitude limit for the restricted fly zone. In some embodiments, the altitude limit is an upper altitude limit. In some embodiments, the altitude limit is a lower altitude limit. In some embodiments, the method further includes displaying a map on a display having a representation of the location of the restricted fly zone and the three-dimensional space. In some embodiments, the location of the restricted fly zone includes global coordinates of the location. In some embodiments, the location of the restricted fly zone includes a street address of the location. In some embodiments, the location of the restricted fly zone includes a portion of a map selected via a finger touch or pointer selection. In some embodiments, the parameters of the restricted fly zone specify a shape of the three-dimensional space for the restricted fly zone. In some embodiments, the method further includes receiving input specifying a classification of the restricted fly zone from a plurality of classifications. In some embodiments, the multiple categories include two or more of the following: airports, military bases, borders, public sensitive areas, and private restricted fly zones. In some embodiments, each of the multiple categories is associated with a different corresponding flight response measure. In some embodiments, each of the multiple categories is associated with a different corresponding three-dimensional space. In some embodiments, the restricted fly zone is associated with a flight response measure. In some embodiments, the method further includes approving the input specifying the location of the restricted fly zone. In some embodiments, approving the input includes verifying the identity of the user. In some embodiments, the restricted fly zone is associated with a mandatory flight response measure. In some embodiments, when the input specifying the location of the restricted fly zone is unapproved, the restricted fly zone is associated with a voluntary flight response measure. In some embodiments, the method further includes receiving input including the identity of the user. In some embodiments, the method further includes verifying the identity of the user. In some embodiments, the three-dimensional space is generated based on the corresponding location of the restricted fly zone. In some embodiments, the location of the restricted fly zone is a property, and the three-dimensional boundary is determined by a corresponding property boundary line. In some embodiments, the method further comprises generating a flight route based on the three-dimensional space for the restricted fly zone. In some embodiments, the method further comprises storing the location and the three-dimensional boundary of the restricted fly zone in one or more memory units.In some embodiments, the restricted flight zone exists for a certain time period, wherein the time period has a predetermined length. In some embodiments, the restricted flight zone is associated with a flight response measure. In some embodiments, the restricted flight zone is not associated with a flight response measure outside the time period. In some embodiments, during the time period, the plurality of restricted flight zones are associated with different sets of flight response measures. In some embodiments, the method further includes displaying a map on a display showing the location of the restricted flight zone and the representation of the three-dimensional space. In some embodiments, outside the time period, the location of the restricted flight zone and the representation of the three-dimensional space are no longer displayed. In some embodiments, the predetermined length is from a specified start time to a specified end time. In some embodiments, the restricted flight zone exists for a certain time period, wherein the length of the time period is determined based on one or more set conditions. In some embodiments, the restricted flight zone is associated with a flight response measure. In some embodiments, outside the time period, the restricted flight zone is not associated with a flight response measure. In some embodiments, during the time period, the plurality of restricted flight zones are associated with different sets of flight response measures. In some embodiments, the method further includes displaying a map on a display showing the location of the restricted flight zone and the representation of the three-dimensional space. In some embodiments, the location of the restricted flight zone and the representation of the three-dimensional space are no longer shown outside the time period. In some embodiments, the parameters of the restricted flight zone include flight response measures for the restricted flight zone. In some embodiments, the parameters include flight response measures associated with the restricted flight zone.

[0006] In another aspect, a system for collecting information about a plurality of restricted fly zones is provided. The system includes one or more processors configured, individually or collectively, to: receive input from a user input device specifying parameters of a restricted fly zone, wherein the parameters include a location of the restricted fly zone; and determine a space for each of the restricted fly zones, wherein the space depends on the parameters of the restricted fly zone.

[0007] In some embodiments, the input is received from multiple users via corresponding user input devices, and the space is a three-dimensional space. In some embodiments, the parameters of the restricted fly zone include a radius of the restricted fly zone. In some embodiments, the three-dimensional space for the restricted fly zone defines a cylindrical shape. In some embodiments, the three-dimensional space for the restricted fly zone defines a sphere or a hemisphere. In some embodiments, the parameters of the restricted fly zone include an altitude limit for the restricted fly zone. In some embodiments, the altitude limit is an upper altitude limit. In some embodiments, the altitude limit is a lower altitude limit. In some embodiments, the system further includes a display, wherein the display displays a map having the location of the restricted fly zone and a representation of the three-dimensional space. In some embodiments, the location of the restricted fly zone includes global coordinates of the location. In some embodiments, the location of the restricted fly zone includes a street address of the location. In some embodiments, the location of the restricted fly zone includes a portion of a map selected via a finger touch or pointer selection. In some embodiments, the parameters of the restricted fly zone specify a shape of the three-dimensional space for the restricted fly zone. In some embodiments, the one or more processors are further configured to receive input specifying a classification of the restricted fly zone from a plurality of classifications. In some embodiments, the multiple categories include two or more of the following: airports, military bases, borders, public sensitive areas, and private restricted fly zones. In some embodiments, each of the multiple categories is associated with a different corresponding flight response measure. In some embodiments, each of the multiple categories is associated with a different corresponding three-dimensional space. In some embodiments, the restricted fly zone is associated with a flight response measure. In some embodiments, the one or more processors are further configured to approve the input specifying the location of the restricted fly zone. In some embodiments, the input is approved when the identity of the user is verified. In some embodiments, the restricted fly zone is associated with a mandatory flight response measure. In some embodiments, when the input specifying the location of the restricted fly zone is unapproved, the restricted fly zone is associated with a voluntary flight response measure. In some embodiments, the one or more processors are configured to receive input including the identity of the user. In some embodiments, the one or more processors are configured to verify the identity of the user. In some embodiments, the three-dimensional space is generated based on the corresponding location of the restricted fly zone. In some embodiments, the location of the restricted fly zone is a location of a property, and the three-dimensional boundary is determined by a corresponding property boundary line. In some embodiments, the one or more processors are configured to generate a flight route based on the three-dimensional space for the restricted flight area.In some embodiments, the system further includes one or more memory units, individually or collectively configured to store the location and three-dimensional boundaries of the restricted flight zone. In some embodiments, the restricted flight zone exists for a certain time period, wherein the time period has a predetermined length. In some embodiments, the restricted flight zone is associated with a flight response measure. In some embodiments, the restricted flight zone is not associated with a flight response measure outside of the time period. In some embodiments, during the time period, the plurality of restricted flight zones are associated with different sets of flight response measures. In some embodiments, the system further includes a display, wherein the display is configured to display a map having the location of the restricted flight zone and a representation of the three-dimensional space. In some embodiments, the location of the restricted flight zone and the representation of the three-dimensional space are no longer displayed outside of the time period. In some embodiments, the predetermined length is from a specified start time to a specified end time. In some embodiments, the restricted flight zone exists for a certain time period, wherein the length of the time period is determined based on one or more set conditions. In some embodiments, the restricted flight zone is associated with a flight response measure. In some embodiments, outside of the time period, the restricted flight zone is not associated with a flight response measure. In some embodiments, during the time period, the plurality of restricted flight zones are associated with different sets of flight response measures. In some embodiments, the system further comprises a display, wherein the display is configured to display a map having the locations of the restricted flight zones and a representation of the three-dimensional space. In some embodiments, outside of the time period, the locations of the restricted flight zones and the representation of the three-dimensional space are no longer displayed. In some embodiments, the parameters of the restricted flight zones include flight response measures for the restricted flight zones. In some embodiments, the parameters include flight response measures associated with the restricted flight zones.

[0008] In another aspect, a non-transitory computer-readable medium containing program instructions for collecting information about a plurality of restricted fly zones is provided. The computer-readable medium includes program instructions for receiving input from a user input device specifying parameters of the restricted fly zones, wherein the parameters include locations of the restricted fly zones; and program instructions for determining, with one or more processors, a space for each of the restricted fly zones, wherein the space is dependent on the parameters of the restricted fly zones.

[0009] In some embodiments, the program instructions for receiving input receive input from multiple users via corresponding user input devices, and the program instructions for determining the space determine a three-dimensional space for each of the restricted fly zones. In some embodiments, the parameters of the restricted fly zones include a radius of the restricted fly zones. In some embodiments, the three-dimensional space for the restricted fly zones defines a cylindrical shape. In some embodiments, the three-dimensional space for the restricted fly zones defines a sphere or a hemisphere. In some embodiments, the parameters of the restricted fly zones include an altitude limit for the restricted fly zones. In some embodiments, the altitude limit is an upper altitude limit. In some embodiments, the altitude limit is a lower altitude limit. In some embodiments, the computer-readable medium further includes program instructions for displaying a map on a display having a representation of the location of the restricted fly zones and the three-dimensional space. In some embodiments, the location of the restricted fly zones includes global coordinates of the location. In some embodiments, the location of the restricted fly zones includes a street address of the location. In some embodiments, the location of the restricted fly zones includes a portion of a map selected via a finger touch or pointer selection. In some embodiments, the parameters of the restricted fly zones specify the shape of the three-dimensional space for the restricted fly zones. In some embodiments, the computer-readable medium further includes program instructions for receiving input specifying a classification of the restricted fly zone from a plurality of classifications. In some embodiments, the plurality of classifications include two or more of the following: airports, military bases, borders, public sensitive areas, and private restricted fly zones. In some embodiments, each of the plurality of classifications is associated with a different corresponding flight response measure. In some embodiments, each of the plurality of classifications is associated with a different corresponding three-dimensional space. In some embodiments, the restricted fly zone is associated with a flight response measure. In some embodiments, the computer-readable medium further includes program instructions for approving the input specifying the location of the restricted fly zone. In some embodiments, approving the input includes verifying the identity of the user. In some embodiments, the restricted fly zone is associated with a mandatory flight response measure. In some embodiments, when the input specifying the location of the restricted fly zone is unapproved, the restricted fly zone is associated with a voluntary flight response measure. In some embodiments, the computer-readable medium further includes program instructions for receiving input including the identity of the user. In some embodiments, the computer-readable medium further includes program instructions for verifying the identity of the user. In some embodiments, the three-dimensional space is generated based on a corresponding location of the restricted fly zone. In some embodiments, the location of the restricted fly zone is a location of a property, and wherein the three-dimensional boundary is determined by a corresponding property boundary line.In some embodiments, the computer-readable medium further includes program instructions for generating a flight route based on the three-dimensional space for the restricted flight zone. In some embodiments, the computer-readable medium further includes program instructions for storing the location and three-dimensional boundaries of the restricted flight zone in one or more memory units. In some embodiments, the restricted flight zone exists for a certain time period, wherein the time period has a predetermined length. In some embodiments, the restricted flight zone is associated with a flight response measure. In some embodiments, the restricted flight zone is not associated with a flight response measure outside of the time period. In some embodiments, the plurality of restricted flight zones are associated with different sets of flight response measures during the time period. In some embodiments, the computer-readable medium further includes program instructions for displaying a map on a display showing the location of the restricted flight zone and a representation of the three-dimensional space. In some embodiments, the location of the restricted flight zone and the representation of the three-dimensional space are not displayed outside of the time period. In some embodiments, the predetermined length is from a specified start time to a specified end time. In some embodiments, the restricted flight zone exists for a certain time period, wherein the length of the time period is determined based on one or more set conditions. In some embodiments, the restricted flight zone is associated with a flight response measure. In some embodiments, the restricted flight zone is not associated with a flight response measure outside of the time period. In some embodiments, the plurality of restricted flight zones are associated with different sets of flight response measures during the time period. In some embodiments, the computer-readable medium further comprises program instructions for displaying a map on a display having the location of the restricted flight zone and the representation of the three-dimensional space. In some embodiments, the location of the restricted flight zone and the representation of the three-dimensional space are no longer displayed outside of the time period. In some embodiments, the parameters of the restricted flight zone include flight response measures for the restricted flight zone. In some embodiments, the parameters include flight response measures associated with the restricted flight zone.

[0010] In another aspect, a method for designating a restricted fly zone is provided, the method comprising: receiving input from a user via a user input device of one or more parameters designating a restricted fly zone, wherein the one or more parameters include a location of the restricted fly zone; and verifying, with one or more processors, whether the user is authorized to designate the location as a restricted fly zone.

[0011] In some embodiments, the method further includes, if the user is verified to be authorized to designate the location as a restricted fly zone, determining a three-dimensional space for the restricted fly zone, wherein the three-dimensional space depends on the parameters of the restricted fly zone. In some embodiments, the location of the restricted fly zone is the global coordinates of the restricted fly zone. In some embodiments, the location of the restricted fly zone is the street address of the restricted fly zone. In some embodiments, the restricted fly zone is a private residence. In some embodiments, when the user is the owner of the private residence, the user is authorized to designate the private residence as a restricted fly zone. In some embodiments, when the user is a resident of the private residence, the user is authorized to designate the private residence as a restricted fly zone. In some embodiments, the restricted fly zone is a commercial area. In some embodiments, the restricted fly zone is an airport, a military base, or a sensitive public area. In some embodiments, the restricted fly zone is a jurisdictional border. In some embodiments, verifying that the user is authorized includes authenticating the user's identity. In some embodiments, the identity of the user is authenticated using a password, phrase, or code entered by the user. In some embodiments, the user's identity is authenticated using biometric input from the user. In some embodiments, the user's identity is authenticated using a unique object owned by the user. In some embodiments, verifying whether the user is authorized includes confirming that the user exercises control over the restricted fly zone. In some embodiments, the user's control over the restricted fly zone is determined when the user is the owner of the restricted fly zone. In some embodiments, the user's control over the restricted fly zone is determined when the user is a tenant or resident of the restricted fly zone. In some embodiments, the user's control over the restricted fly zone is determined when a governing entity communicates authorization to the user. In some embodiments, verifying whether the user is authorized includes receiving an electronic transmission from a third party indicating that the user is authorized. In some embodiments, the method further includes storing the location of the restricted fly zone in one or more memory units when the user is verified to be authorized to designate the location as a restricted fly zone.

[0012] In another aspect, a system for designating a restricted fly zone is provided. The system includes one or more processors configured, individually or collectively, to: receive input from a user via a user input device of one or more parameters designating a restricted fly zone, wherein the one or more parameters include a location of the restricted fly zone; and verify whether the user is authorized to designate the location as a restricted fly zone.

[0013] In some embodiments, the one or more processors are further configured to: if the user is verified to be authorized to designate the location as a restricted fly zone, determine a three-dimensional space for the restricted fly zone, wherein the three-dimensional space depends on the parameters of the restricted fly zone. In some embodiments, the location of the restricted fly zone is the global coordinates of the restricted fly zone. In some embodiments, the location of the restricted fly zone is the street address of the restricted fly zone. In some embodiments, the restricted fly zone is a private residence. In some embodiments, when the user is the owner of the private residence, the user is authorized to designate the private residence as a restricted fly zone. In some embodiments, when the user is a resident of the private residence, the user is authorized to designate the private residence as a restricted fly zone. In some embodiments, the restricted fly zone is a commercial area. In some embodiments, the restricted fly zone is an airport, a military base, or a sensitive public area. In some embodiments, the restricted fly zone is a jurisdictional boundary. In some embodiments, the one or more processors are configured to authenticate the identity of the user. In some embodiments, the identity of the user is authenticated using a password, phrase, or code entered by the user. In some embodiments, the user's identity is authenticated using biometric input from the user. In some embodiments, the user's identity is authenticated using a unique object owned by the user. In some embodiments, the one or more processors are configured to confirm that the user exercises control over the restricted fly zone. In some embodiments, the user is determined to exercise control over the restricted fly zone when the user is the owner of the restricted fly zone. In some embodiments, the user is determined to exercise control over the restricted fly zone when the user is a tenant or resident of the restricted fly zone. In some embodiments, the user is determined to exercise control over the restricted fly zone when a regulatory entity communicates authorization to the user. In some embodiments, the one or more processors are configured to receive an electronic transmission from a third party indicating that the user is authorized to designate the location as a restricted fly zone, in order to verify that the location is designated as a restricted fly zone. In some embodiments, the system further includes one or more memory units that are individually or collectively configured to store the location of the restricted fly zone when the user is verified to be authorized to designate the location as a restricted fly zone.

[0014] In another aspect, a non-transitory computer-readable medium containing program instructions for designating a restricted fly zone is provided. The computer-readable medium includes program instructions for receiving one or more parameters of a restricted fly zone from a user via a user input device, wherein the one or more parameters include a location of the restricted fly zone; and program instructions for verifying, with one or more processors, whether the user is authorized to designate the location as a restricted fly zone.

[0015] In some embodiments, the computer-readable medium further includes program instructions for, if the user is verified as authorized to designate the location as a restricted fly zone, determining a three-dimensional space of the restricted fly zone, wherein the three-dimensional space depends on the parameters of the restricted fly zone. In some embodiments, the location of the restricted fly zone is the global coordinates of the restricted fly zone. In some embodiments, the location of the restricted fly zone is the street address of the restricted fly zone. In some embodiments, the restricted fly zone is a private residence. In some embodiments, when the user is the owner of the private residence, the user is authorized to designate the private residence as a restricted fly zone. In some embodiments, when the user is a resident of the private residence, the user is authorized to designate the private residence as a restricted fly zone. In some embodiments, the restricted fly zone is a commercial area. In some embodiments, the restricted fly zone is an airport, a military base, or a sensitive public area. In some embodiments, the restricted fly zone is a jurisdictional boundary. In some embodiments, the program instructions for verifying whether the user is authorized include program instructions for authenticating the user's identity. In some embodiments, the user's identity is authenticated using a password, phrase, or code entered by the user. In some embodiments, the user's identity is authenticated using biometric input from the user. In some embodiments, the user's identity is authenticated using a unique object owned by the user. In some embodiments, the program instructions for verifying whether the user is authorized include program instructions for confirming that the user exercises control over the restricted fly zone. In some embodiments, the user's control over the restricted fly zone is determined when the user is the owner of the restricted fly zone. In some embodiments, the user's control over the restricted fly zone is determined when the user is a tenant or resident of the restricted fly zone. In some embodiments, the user's control over the restricted fly zone is determined when a regulatory entity communicates authorization to the user. In some embodiments, the program instructions for verifying whether the user is authorized include program instructions for receiving an electronic transmission from a third party indicating that the user is authorized. In some embodiments, the computer-readable medium further includes program instructions for storing the location of the restricted fly zone in one or more memory units when the user is verified as authorized to designate the location as a restricted fly zone.

[0016] In another aspect, a method for collecting information about a restricted fly zone is provided, the method comprising: receiving input from a user via a user input device specifying a location of the restricted fly zone; and searching one or more external data sources with the aid of one or more processors to obtain information associated with the restricted fly zone or other restricted fly zones.

[0017] In some embodiments, the one or more external data sources include government data sources. In some embodiments, the one or more external data sources include a source listing airport information. In some embodiments, the one or more external data sources are publicly accessible via the internet. In some embodiments, the one or more external data sources are privately accessible when access is granted. In some embodiments, the location of the restricted flight zone is the global coordinates of the restricted flight zone. In some embodiments, the location of the restricted flight zone is the street address of the restricted flight zone. In some embodiments, the restricted flight zone is a private residence. In some embodiments, the restricted flight zone is a commercial area. In some embodiments, the information regarding the one or more other restricted flight zones includes the location of the one or more other restricted flight zones. In some embodiments, the one or more other restricted flight zones include airports, military bases, or publicly sensitive areas. In some embodiments, the one or more other restricted flight zones include jurisdictional boundaries. In some embodiments, the information associated with the restricted flight zone includes information regarding ownership of the restricted flight zone. In some embodiments, the information associated with the restricted flight zone includes information regarding the identity of the user. In some embodiments, the method further includes storing the location of the restricted fly zone and information associated with the restricted fly zone or one or more other restricted fly zones in one or more memory units.

[0018] In another aspect, a system for collecting information about restricted fly zones is provided. The system includes one or more processors configured, individually or collectively, to: receive input from a user via a user input device specifying a location of the restricted fly zone; and search one or more external data sources for information associated with the restricted fly zone or other restricted fly zones.

[0019] In some embodiments, the one or more external data sources include government data sources. In some embodiments, the one or more external data sources include a source listing airport information. In some embodiments, the one or more external data sources are publicly accessible via the internet. In some embodiments, the one or more external data sources are privately accessible when access is granted. In some embodiments, the location of the restricted flight zone is the global coordinates of the restricted flight zone. In some embodiments, the location of the restricted flight zone is the street address of the restricted flight zone. In some embodiments, the restricted flight zone is a private residence. In some embodiments, the restricted flight zone is a commercial area. In some embodiments, the information regarding the one or more other restricted flight zones includes the location of the one or more other restricted flight zones. In some embodiments, the one or more other restricted flight zones include airports, military bases, or publicly sensitive areas. In some embodiments, the one or more other restricted flight zones include jurisdictional boundaries. In some embodiments, the information associated with the restricted flight zone includes information regarding ownership of the restricted flight zone. In some embodiments, the information associated with the restricted flight zone includes information regarding the identity of the user. In some embodiments, the system further comprises one or more memory units, which are individually or collectively configured to store the location of the restricted fly zone and the information associated with the restricted fly zone or other restricted fly zones.

[0020] In another aspect, a non-transitory computer-readable medium containing program instructions for collecting information about restricted fly zones is provided. The computer-readable medium includes program instructions for receiving input from a user via a user input device specifying a location of the restricted fly zone; and program instructions for searching one or more external data sources, with the aid of one or more processors, for information associated with the restricted fly zone or other restricted fly zones.

[0021] In some embodiments, the one or more external data sources include government data sources. In some embodiments, the one or more external data sources include a source listing airport information. In some embodiments, the one or more external data sources are publicly accessible via the internet. In some embodiments, the one or more external data sources are privately accessible when access is granted. In some embodiments, the location of the restricted flight zone is the global coordinates of the restricted flight zone. In some embodiments, the location of the restricted flight zone is the street address of the restricted flight zone. In some embodiments, the restricted flight zone is a private residence. In some embodiments, the restricted flight zone is a commercial area. In some embodiments, the information regarding the one or more other restricted flight zones includes the location of the one or more other restricted flight zones. In some embodiments, the one or more other restricted flight zones include airports, military bases, or publicly sensitive areas. In some embodiments, the one or more other restricted flight zones include jurisdictional boundaries. In some embodiments, the information associated with the restricted flight zone includes information regarding ownership of the restricted flight zone. In some embodiments, the information associated with the restricted flight zone includes information regarding the identity of the user. In some embodiments, the computer-readable medium further includes program instructions for storing the location of the restricted fly zone and information associated with the restricted fly zone or one or more other restricted fly zones in one or more memory units.

[0022] In another aspect, a method for operating an unmanned aerial vehicle (UAV) in a restricted flight zone is provided. The method includes: applying for flight in the restricted flight zone via a user terminal; receiving approval for flight in the restricted flight zone at the user terminal; determining an approved zone and an approved time via one or more processors; and operating the UAV within the approved zone and during the approved time.

[0023] In some embodiments, the approved area is defined by a three-dimensional shape. In some embodiments, requesting permission to fly within the restricted flight area includes requesting a permitted flight time. In some embodiments, the permitted flight time is temporary. In some embodiments, the permitted flight time is indefinite. In some embodiments, the approved time is equal to the permitted flight time. In some embodiments, requesting permission to fly within the restricted flight area includes requesting a permitted flight area, wherein the flight area is defined by a three-dimensional shape. In some embodiments, the permitted flight area is equal to the approved area. In some embodiments, the permitted flight area is equal to the restricted flight area. In some embodiments, the permitted flight area is smaller than the restricted flight area. In some embodiments, permission to fly within the restricted flight area is provided by a third party. In some embodiments, the user terminal is a mobile device. In some embodiments, the mobile device is a cellular phone, a personal digital assistant (PDA), or a tablet computer. In some embodiments, the mobile device includes a graphical user interface accessed via an application. In some embodiments, permission to fly within the restricted flight area is provided by a person exercising control over the restricted flight area. In some embodiments, the person is determined to exercise control over the restricted fly zone when the entity is the owner of the restricted fly zone. In some embodiments, the person is determined to exercise control over the restricted fly zone when the person is a tenant or resident of the restricted fly zone. In some embodiments, the person is determined to exercise control over the restricted fly zone when the regulatory entity communicates authorization to the person. In some embodiments, receiving approval includes receiving a notification of approval. In some embodiments, the restricted fly zone is the global coordinates of the restricted fly zone. In some embodiments, the restricted fly zone is the street address of the restricted fly zone. In some embodiments, the restricted fly zone is a private residence. In some embodiments, the restricted fly zone is a commercial area. In some embodiments, the restricted fly zone is an airport, a military base, or a public sensitive area. In some embodiments, the restricted fly zone is a jurisdictional boundary.

[0024] In another aspect, a system for operating an unmanned aerial vehicle (UAV) in a restricted flight zone is provided. The system includes: a user terminal configured to apply for flight in the restricted flight zone and receive approval for flight in the restricted flight zone; one or more processors configured to determine an approved zone and an approved time; and an UAV configured to operate within the approved zone and during the approved time.

[0025] In some embodiments, the approved area is defined by a three-dimensional shape. In some embodiments, the user terminal is configured to request a permitted flight time. In some embodiments, the permitted flight time is temporary. In some embodiments, the permitted flight time is indefinite. In some embodiments, the approved time is equal to the permitted flight time. In some embodiments, the user terminal is configured to request a permitted flight area, wherein the flight area is defined by a three-dimensional shape. In some embodiments, the permitted flight area is equal to the approved area. In some embodiments, the permitted flight area is equal to the restricted flight area. In some embodiments, the permitted flight area is smaller than the restricted flight area. In some embodiments, approval for flight within the restricted flight area is provided by a third party. In some embodiments, the user terminal is a mobile device. In some embodiments, the mobile device is a cell phone, a PDA, or a tablet computer. In some embodiments, the mobile device includes a graphical user interface accessed via an application. In some embodiments, approval for flight within the restricted flight area is provided by a person who exercises control over the restricted flight area. In some embodiments, the person's control over the restricted flight area is determined when the entity is the owner of the restricted flight area. In some embodiments, when the person is a tenant or resident of the restricted flight zone, it is determined that the person exercises control over the restricted flight zone. In some embodiments, when a regulatory entity conveys authorization to the person, it is determined that the person exercises control over the restricted flight zone. In some embodiments, the user terminal is configured to receive a notification of approval. In some embodiments, the restricted flight zone is the global coordinates of the restricted flight zone. In some embodiments, the restricted flight zone is the street address of the restricted flight zone. In some embodiments, the restricted flight zone is a private residence. In some embodiments, the restricted flight zone is a commercial area. In some embodiments, the restricted flight zone is an airport, a military base, or a public sensitive area. In some embodiments, the restricted flight zone is a jurisdictional boundary.

[0026] In another aspect, a method for designating a voluntary restricted flight zone is provided. The method includes: receiving input from a user via a user input device specifying one or more parameters of a voluntary restricted flight zone, wherein the one or more parameters include a location of the voluntary restricted flight zone; receiving a request from an unmanned aerial vehicle operator to select to enter the voluntary restricted flight zone; and designating the voluntary restricted flight zone with the aid of one or more processors, wherein the voluntary restricted flight zone is designated only for the unmanned aerial vehicle operator who has selected to enter the voluntary restricted flight zone.

[0027] In another aspect, a system for designating a voluntary restricted flight zone is provided. The system includes one or more processors, each of which is individually or collectively configured to: receive input from a user via a user input device specifying one or more parameters of a voluntary restricted flight zone, wherein the one or more parameters include a location of the voluntary restricted flight zone; receive requests from one or more unmanned aerial vehicle operators to select to enter the voluntary restricted flight zone; and designate the voluntary restricted flight zone, wherein the voluntary restricted flight zone is designated only for the unmanned aerial vehicle operators who have selected to enter the voluntary restricted flight zone.

[0028] In another aspect, a non-transitory computer-readable medium containing program instructions for designating a voluntary restricted flight zone is provided. The computer-readable medium includes program instructions for receiving input from a user via a user input device specifying one or more parameters of a voluntary restricted flight zone, wherein the one or more parameters include a location of the voluntary restricted flight zone; program instructions for receiving a request from an unmanned aerial vehicle operator to select to enter the voluntary restricted flight zone; and program instructions for designating the voluntary restricted flight zone with the aid of one or more processors, wherein the voluntary restricted flight zone is designated only for the unmanned aerial vehicle operator who has selected to enter the voluntary restricted flight zone.

[0029] In another aspect, a method for designating a personal restricted-fly zone is provided, comprising: receiving input from an unmanned aerial vehicle operator of one or more parameters designating a personal restricted-fly zone; and designating a personal restricted-fly zone for the unmanned aerial vehicle operator using one or more processors.

[0030] In some embodiments, the method further includes designating a personal restricted-fly zone to one or more other UAV operators. In some embodiments, the personal restricted-fly zone is unique to the UAV operator and cannot be shared with other UAV operators.

[0031] In another aspect, a system for designating a personal restricted-fly zone is provided. The system includes one or more processors configured, individually or collectively, to: receive input from an unmanned aerial vehicle operator specifying one or more parameters specifying a personal restricted-fly zone; and designate a personal restricted-fly zone for the unmanned aerial vehicle operator.

[0032] In some embodiments, the one or more processors are further configured to designate a personal restricted-fly zone to one or more other UAV operators. In some embodiments, the personal restricted-fly zone is unique to the UAV operator and cannot be shared with other UAV operators.

[0033] In another aspect, a non-transitory computer-readable medium containing program instructions for designating a personal restricted fly zone includes: program instructions for receiving input from an unmanned aerial vehicle operator specifying one or more parameters of the personal restricted fly zone; and program instructions for designating the personal restricted fly zone for the unmanned aerial vehicle operator with the aid of one or more processors.

[0034] In some embodiments, the computer-readable medium further includes program instructions for designating a personal restricted-fly zone to one or more other UAV operators. In some embodiments, the personal restricted-fly zone is unique to the UAV operator and cannot be shared with other UAV operators.

[0035] It should be understood that the various aspects of the present invention may be understood individually, collectively, or in conjunction with one another. The various aspects of the present invention described herein may be applicable to any specific application described below or for any other type of movable object. Any description herein of an aircraft, such as an unmanned aerial vehicle, may be applicable to and used for any movable object, such as any vehicle. In addition, the systems, devices, and methods disclosed herein in the context of aerial motion (e.g., flight) may also be applicable to the context of other types of motion, such as motion on the ground or on water, underwater motion, or motion in space.

[0036] Other objects and features of the present invention will become apparent from an examination of the specification, claims and drawings.

[0037] Incorporation by reference

[0038] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The novel features of the present invention are set forth with particularity in the claims appended hereto. These features and advantages of the present invention may be understood with reference to the following detailed description of exemplary embodiments in which the principles of the present invention are utilized, and the accompanying drawings, in which:

[0040] Figure 1 According to an embodiment, a method of collecting information about a plurality of restricted fly zones is provided.

[0041] Figure 2 Different classifications of three-dimensional shapes of restricted flight zones according to embodiments are provided.

[0042] Figure 3According to an embodiment, a restricted flight area defined by a plurality of flight restriction bands is provided.

[0043] Figure 4 According to an embodiment, a method of collecting information about a restricted flight area is provided.

[0044] Figure 5 A schematic diagram of information flow from and to the platform is provided, according to an embodiment.

[0045] Figure 6 According to an embodiment, a method for designating a restricted flight zone is provided.

[0046] Figure 7 A user interface including a two-dimensional view and a three-dimensional view of a restricted fly zone is provided according to an embodiment.

[0047] Figure 8 According to an embodiment, a method of operating an unmanned aerial vehicle in a restricted flight area is provided.

[0048] Figure 9 The diagram shows a schematic diagram of a UAV flying in a restricted flight area according to an embodiment.

[0049] Figure 10 According to an embodiment, a platform for managing flight restrictions is provided.

[0050] Figure 11 An unmanned aerial vehicle (UAV) according to an embodiment of the present invention is illustrated.

[0051] Figure 12 A movable object including a carrier and a payload is illustrated according to an embodiment.

[0052] Figure 13 is a schematic diagram illustrating, by way of block diagram, a system for controlling a movable object according to an embodiment. DETAILED DESCRIPTION

[0053] The systems, methods, and program instructions of the present invention provide a platform for collecting, storing, designating, updating, and displaying restricted flight zones, as well as further applications of such a platform for operating aircraft. The platform can be an open platform accessible to the public. The aircraft can be an unmanned aerial vehicle (UAV) or any other type of movable object. It may be desirable to restrict the operation of UAVs in certain areas. For example, some jurisdictions may have one or more no-fly zones in which UAVs are not permitted to fly. In the United States, UAVs cannot fly within certain distances from airports. Furthermore, it may be desirable to restrict flight within areas where flight is not expressly prohibited by a government or other official agency. For example, it may be desirable to restrict flight over public or private property where the property owner has indicated that they do not wish to have UAVs fly over the property. For example, it may be desirable to restrict flight within areas where flight conditions are known to be hazardous (e.g., known to be high winds, near a border, too far from a coastline, near important government buildings, etc.). For example, it may be desirable to restrict flight within areas where a special (e.g., unusual) event is occurring.

[0054] In some cases, it may be desirable to update a restricted fly zone. For example, a previously designated restricted fly zone may no longer be necessary (e.g., due to a new property owner). For example, a special event may be occurring within a restricted fly zone, and it may be desirable for an unmanned aerial vehicle to operate within the designated restricted fly zone.

[0055] Therefore, there is a need to provide users with a centralized tool or platform to manage various restricted fly zones. The platform may include one or more databases that can be continuously updated by various users who enter and update restricted fly zones and / or parameters associated with restricted fly zones. The database can also retrieve information from other sources (such as government data sources, regulatory databases, sources that list airport information, public records, sources that are publicly accessible via the Internet, or sources that are privately accessible when access is granted) and can be updated accordingly when other sources are updated. The platform can be used to provide a unified interface (e.g., a one-stop shop) for unmanned aerial vehicles to manage or query restricted fly zones and adopt appropriate flight response measures.

[0056] Figure 1A method 100 for collecting information about multiple restricted fly zones, according to an embodiment, is provided. Similarly, a non-transitory computer-readable medium containing program instructions for performing method 100 may also be provided. A restricted fly zone (also referred to herein as a restricted fly zone) may have any location. In some cases, a restricted fly zone location may be a point, or the center or location of the restricted fly zone may be specified by a point (e.g., latitude and longitude coordinates, and optionally, altitude coordinates). For example, a restricted fly zone location may be a point at the center of an airport, or a point representing the airport or other type of restricted fly zone. In other examples, a restricted fly zone may be a two-dimensional region. For example, a restricted fly zone location may include a region or area. The region or area may correspond to, reflect, or track an existing boundary. Existing boundaries may include, for example, property boundaries, national borders, state boundaries, natural boundaries (e.g., a boundary between a body of water and land), etc. The region or area may have any shape (e.g., a circular shape, a rectangular shape, a triangular shape, a shape corresponding to one or more natural or man-made features at the location, a shape corresponding to one or more zoning regulations, or any other boundary). For example, a restricted fly zone can track the boundaries of an airport, a border between countries, other jurisdictional boundaries, or any other type of boundary.

[0057] A restricted flight zone can be defined by a straight line or curve. In some cases, a restricted flight zone can include a space. This space can be a three-dimensional space comprising latitude, longitude, and altitude coordinates. This three-dimensional space can include length, width, and height. A restricted flight zone can have altitude restrictions, such as a lower altitude limit and / or an upper altitude limit. The altitude restrictions of a restricted flight zone can be constant within the restricted flight zone. The altitude restrictions of a restricted flight zone can also vary within the restricted flight zone. For example, the lower altitude limit can increase with distance from the center of the restricted flight zone. A restricted flight zone can include space from the ground upward to any altitude above the ground (e.g., a predetermined altitude through which an unmanned aerial vehicle can fly, or an altitude above which an unmanned aerial vehicle can fly). This can include altitudes vertically upward from one or more restricted flight zones on the ground. For example, for some latitudes and longitudes, all altitudes may be subject to flight restrictions. In some cases, flight restrictions may be imposed on some altitudes within a particular lateral region, while not imposed on other altitudes. For example, for some latitudes and longitudes, flight restrictions may be imposed on some altitudes while not imposed on other altitudes. Thus, a restricted fly zone may have any number of dimensions and dimensional measurements, and / or may be specified by these dimensional positions, or by a space, area, line, or point representing the zone.

[0058] As mentioned herein, a restricted flight zone may include any location where it is desirable to restrict the operation of an unmanned aerial vehicle. For example, a restricted flight zone may include one or more locations where unauthorized aircraft may not be able to fly. Other examples of the types of restricted flight zones are also provided elsewhere herein. This may include unauthorized unmanned aerial vehicles (UAVs) or all unmanned aerial vehicles. A restricted flight zone may include prohibited airspace, which may refer to the area (or volume) of airspace within which an aircraft is not allowed to fly, usually for safety reasons. A prohibited area may include an airspace with limited dimensions identified by an area on the surface of the earth within which an aircraft is prohibited from flying. Such an area may be established for safety or other reasons associated with national welfare. These areas may be published in the U.S. Federal Register and depicted in an aeronautical chart of the U.S. or other publications in various jurisdictions. A restricted flight zone may include one or more airspaces with special uses (e.g., where restrictions may be imposed on aircraft not participating in a specified operation), such as restricted airspace (i.e., where entry to all aircraft is generally prohibited at all times and entry is not subject to permission from the controlling entity of the airspace), a military operation zone, a warning zone, an alert zone, a temporary flight restriction (TFR) zone, a national security zone, and a fire control zone. A restricted flight zone, as used herein, may also include any other airspace designated by the user and may be associated with a flight response measure. For example, private property such as a residential or commercial building (or public property such as a park) may be designated as a restricted flight zone.

[0059] Examples of restricted fly areas may include, but are not limited to, airports, flight corridors, military or other government facilities, locations near sensitive personnel (e.g., when the President or other leader is visiting a location), nuclear facilities, research facilities, private airspace, demilitarized zones, certain jurisdictions (e.g., towns, cities, counties, states / provinces, countries, bodies of water or other natural landmarks), national borders (e.g., the border between the United States and Mexico), private or public property, or any other type of area. A restricted fly area may be a permanent no-fly zone, or it may be a temporary area where flight is prohibited. A restricted fly area may be an area in which flight is permitted but is associated with a set of flight response measures. The list of restricted fly areas may be updated. Restricted fly areas may vary from jurisdiction to jurisdiction. For example, some countries may include schools as restricted fly areas, while other countries may not.

[0060] In step 102, input of one or more parameters specifying a restricted fly zone may be received from a plurality of users via corresponding user input devices. A user, as used herein, may refer to any individual or entity acting on their own behalf or on behalf of another. For example, a user may be a homeowner who enters one or more parameters of a restricted fly zone associated with his or her property (e.g., a home). For example, a user may be an employee of an airport who enters one or more parameters of a restricted fly zone associated with the airport. For example, a user may be a government agency, such as the Federal Aviation Administration (FAA), the Federal Trade Commission (FTC), the Federal Communications Commission (FCC), the National Telecommunications and Information Administration (NTIA), the Department of Transportation (DoT), or the Department of Defense (DoD).

[0061] A user input device can be any device capable of receiving user input and communicating with a platform for managing restricted fly zones (referred to herein as the "platform"). For example, the input device can be an unmanned aerial vehicle controller, a computer, a mobile device (e.g., a cell phone, a smartphone, a PDA (personal digital assistant), a tablet computer, etc.). The input device can communicate with the platform via wired or wireless communication. For example, the input device can access a website or application coupled to the platform. The website or application can include a user interface (e.g., a graphical user interface) for inputting parameters. Furthermore, the user interface can present a map (e.g., a global map) and display currently existing restricted fly zones on the map. This allows a user to view restricted fly zones input by other users. Currently existing restricted fly zones can be accessed from a database. The platform for managing restricted fly zones can include the database. The database can be hosted on a website or an online server. The database can be coupled to one or more memory units. The database can be continuously updated with user input or information regarding restricted fly zones obtained through other means.

[0062] Restricted zone parameters may include any information related to the restricted zone. Restricted zone parameters may include information that can be retrieved from or stored in a database. For example, the parameters may include a user identifier (e.g., a user's desired username, real name, etc.), the location, type (e.g., category), status (e.g., update date, upload date, etc.), radius or boundary, height, length, width, perimeter, diameter, altitude limits (e.g., upper and / or lower altitude limits), duration, time period, or flight response measures associated with the restricted zone. Furthermore, the parameters may include a two-dimensional boundary of the restricted zone or a three-dimensional visual representation of the restricted zone configured by the user on a user interface (e.g., by drawing, tracing, or selecting from a predetermined list on the user interface). For example, a user may trace the boundaries of the restricted zone (e.g., property boundaries, airport boundaries, country boundaries) and select altitude limits (e.g., lower and / or upper altitude limits) for the restricted zone. For example, a user may trace the three-dimensional boundary of the restricted zone on the user interface. In some embodiments, the user can select the shape that the user wants the restricted fly zone to have from a list of predetermined shapes (e.g., three-dimensional shapes, such as spheres, hemispheres, cylinders, cones, inverted cones, rectangular prisms, cubes, etc.) and place the shape at a desired location on a graphical user interface (e.g., on a map).

[0063] The parameters of a restricted fly zone can specify the two-dimensional or three-dimensional shape of the restricted fly zone. Parameters specifying the shape can include a radius, height (e.g., an altitude limit), length, width, circumference, diameter, boundary, shape (e.g., configured via tracing, drawing, etc.), and the like. For example, if the user input parameters include the radius and location of the restricted fly zone, the two-dimensional space can be defined by a circle centered at the location. For example, if the user input parameters include the radius and location of the restricted fly zone, the three-dimensional space can be defined by a sphere centered at the location. For example, if the user input parameters include the radius, altitude limits (e.g., upper and lower limits), and location of the restricted fly zone, the three-dimensional space can be defined by a cylinder having a base centered at the location and extending from a lower altitude limit to an upper altitude limit. Other exemplary three-dimensional shapes can include, but are not limited to, a hemisphere, a cube, a rectangular prism, an irregular shape, and the like. For example, if the user input parameters include a two-dimensional boundary or a visual representation of a three-dimensional space of the restricted fly zone, the three-dimensional space of the restricted fly zone can be defined by a configuration drawn or selected by the user on the user interface.

[0064] Parameters for a restricted fly zone may include the location of the restricted fly zone. The location may include local or global coordinates (e.g., latitude and / or longitude) of the restricted fly zone, a country, a city, a street address, a street intersection, a name (e.g., recognizable names associated with areas such as JFK Airport, the White House, Dolores Park, the Golden Gate Bridge, etc.), etc. For example, a user may be required to input the latitude and longitude of the desired restricted fly zone. In some cases, the user may be required to select the location of the desired restricted fly zone on a map display. The selection may be made via any user interaction with the display, such as a user touching (e.g., selecting with a finger pointer) the map display. The user interaction may be via a user interaction device, such as a mouse, trackball, touchpad, joystick, camera, microphone, motion sensor, inertial sensor, etc. The selection may be made with the aid of a pointer (e.g., a finger pointer, a mouse pointer). The location selected by the user on the map may correspond to local or global coordinates, a street address, a landmark, or a name. The map display may also visually provide a representation of nearby restricted fly areas and any information associated with the restricted fly areas (eg, street addresses, altitude restrictions, flight response measures, etc.).

[0065] The parameters of a restricted flight zone may include the flight response measures required for the restricted flight zone. In some cases, the flight response measures may be manually input by a user. Alternatively, the flight response measures may be automatically selected by one or more processors without user input. In some cases, some user input may be provided, but the one or more processors may make the final determination of the flight response measures based on the user input. A set of flight response measures may be generated for the restricted flight zone. Generating a set of flight response measures may include creating the flight response measures from scratch. Generating a set of flight response measures may include selecting a set of flight response measures from a plurality of available flight response measure sets. The operation of the UAV may be governed or influenced by the flight response measures. The set of flight response measures may include one or more flight response measures. In some embodiments, the flight response measures may include preventing the UAV from entering the restricted flight zone entirely. A UAV that stops in the restricted flight zone may be forced to land or be forced to leave the restricted flight zone. In some embodiments, the flight response measures may include allowing the UAV to remain in the restricted flight zone but imposing certain restrictions on the UAV's operations within the restricted flight zone. The UAV may be forced to remain within the restricted flight zone. Various types and examples of flight response measures are described herein.

[0066] Flight response measures may govern the physical placement of the UAV. For example, flight response measures may govern the flight of the UAV, the takeoff of the UAV, and / or the landing of the UAV. In some examples, flight response measures may prevent the UAV from flying within a restricted flight zone. In some examples, flight response measures may only allow the UAV within a certain range of orientations, or may not allow the UAV within a certain range of orientations. The range of orientations of the UAV may be about one, two, or three axes. The axes may be orthogonal axes, such as yaw, pitch, or roll. The physical placement of the UAV may be governed with respect to the restricted flight zone.

[0067] Flight response measures can govern the movement of the UAV. For example, the flight response measures can govern the UAV's translational velocity, the UAV's translational acceleration, the UAV's angular velocity (e.g., angular velocity about one, two, or three axes), or the UAV's angular acceleration (e.g., angular acceleration about one, two, or three axes). The flight response measures can be setting maximum limits on the UAV's translational velocity, the UAV's translational acceleration, the UAV's angular velocity, or the UAV's angular acceleration. Thus, a set of flight response measures can include limiting the UAV's flight velocity and / or flight acceleration. The flight response measures can be setting minimum thresholds on the UAV's translational velocity, the UAV's translational acceleration, the UAV's angular velocity, or the UAV's angular acceleration. The flight response measures can require the UAV to move between the minimum threshold and the maximum limit. Alternatively, the flight response measures can prevent the UAV from moving within one or more translational velocity ranges, translational acceleration ranges, angular velocity ranges, or angular acceleration ranges. In one example, the UAV may not be allowed to hover within a designated airspace. The UAV may be required to fly above a minimum translation speed of 0 mph. In another example, the UAV may not be allowed to fly too fast (e.g., below a maximum speed limit of 40 mph). The movement of the UAV may be regulated with respect to restricted flight zones.

[0068] Flight response measures can govern the takeoff and / or landing procedures of the unmanned aerial vehicle. For example, an unmanned aerial vehicle may be allowed to fly in a restricted flight area but not be allowed to land in the restricted flight area. In another example, the unmanned aerial vehicle may only be able to take off from a restricted flight area in a certain manner or at a certain speed. In another example, manual takeoff or landing may not be allowed, and an autonomous landing or takeoff process must be used within the restricted flight area. Flight response measures can govern whether takeoff is allowed, whether landing is allowed, and any rules that must be followed for takeoff or landing (e.g., speed, acceleration, direction, heading, flight mode). In some embodiments, only automated sequences for takeoff and / or landing are allowed without manual landing or takeoff, or vice versa. The takeoff and / or landing procedures of the unmanned aerial vehicle can be governed with respect to restricted flight areas.

[0069] In some cases, flight response measures may govern the operation of a UAV's payload. A UAV's payload can be a sensor, a transmitter, or any other object capable of being carried by a UAV. A payload can be turned on or off. A payload can be made operational (e.g., on) or inoperative (e.g., off). Flight response measures may include conditions that disallow the UAV from operating the payload. For example, in a restricted fly zone, a flight response measure may require the payload to be turned off. A payload can emit a signal, and a flight response measure may govern the nature of the signal, the amplitude of the signal, the range of the signal, the direction of the signal, or any other mode of operation. For example, if the payload is a light source, a flight response measure may require that the light be below a threshold intensity within the restricted fly zone. In another example, if the payload is a speaker for projecting sound, a flight response measure may require that the speaker not transmit any noise outside the restricted fly zone. A payload can be a sensor that collects information, and a flight response measure may dictate the mode of information collection, the mode of pre-processing or processing the information, the resolution used for collecting the information, the frequency or sampling rate used for collecting the information, the range from which the information is collected, or the direction in which the information is collected. For example, a payload can be an image capture device. An image capture device may be capable of capturing static images (e.g., still images) or dynamic images (e.g., video). Flight response measures may govern the zoom of the image capture device, the resolution of images captured by the image capture device, the sampling rate of the image capture device, the shutter speed of the image capture device, the aperture of the image capture device, whether a flash is used, the mode of the image capture device (e.g., lighting mode, color mode, still vs. video mode), or the focus of the image capture device. In one example, a camera may not be allowed to capture images throughout a restricted fly zone. In another example, a camera may be allowed to capture images but not sound within a restricted fly zone. In another example, a camera may be allowed to capture high-resolution photos only within a restricted fly zone, while only allowing low-resolution photos outside the restricted fly zone. In another example, the payload may be an audio capture device. Flight response measures may govern whether the audio capture device is allowed to be turned on, the sensitivity of the audio capture device, the decibel range that the audio capture device can pick up, the directionality of the audio capture device (e.g., for a parabolic microphone), or any other quality of the audio capture device. In one example, an audio capture device may or may not be allowed to capture sound within a restricted fly zone. In another example, an audio capture device may be allowed only to capture sounds within a certain frequency range when within a restricted fly zone.Operation of the payload may be governed with respect to the restricted fly zone.

[0070] Flight response measures can govern whether the payload can transmit or store information. For example, if the payload is an image capture device, the flight response measures can govern whether images (still or moving images) can be recorded. The flight response measures can govern whether images can be recorded to the image capture device's onboard memory or to the UAV's onboard memory. For example, the image capture device may be allowed to turn on and display captured images on a local display, but may not be allowed to record any of the images. The flight response measures can govern whether images can be streamed outside the image capture device or outside the UAV. For example, the flight response measures may stipulate that when the UAV is within a restricted flight area, the image capture device onboard the UAV may be allowed to stream video to a terminal outside the UAV, but may not be allowed to stream video when the UAV is outside the restricted flight area. Similarly, if the payload is an audio capture device, the flight response measures can govern whether sound can be recorded to the audio capture device's onboard memory or to the UAV's onboard memory. For example, the audio capture device may be allowed to turn on and play back captured sound on a local speaker, but may not be allowed to record any of the sound. Flight response measures may govern whether images may be streamed to an audio capture device or any other payload. Storage and / or transmission of collected data may be governed with respect to restricted flight areas.

[0071] In some cases, a payload may be an item carried by a UAV, and the flight response measures may specify the characteristics of the payload. Examples of payload characteristics may include the payload's dimensions (e.g., height, width, length, diameter, diagonal), weight, stability, material, fragility, or type. For example, a flight response measure may specify that a UAV may carry packages weighing no more than 3 lbs when flying over a restricted flight zone. In another example, a flight response measure may allow a UAV to only carry packages with a dimension greater than 1 foot within a restricted flight zone. Other flight response measures may allow a UAV to fly within a restricted flight zone for only 5 minutes while carrying a package weighing 1 lb or more, and if the UAV does not leave the restricted flight zone within 5 minutes, the UAV may be automatically landed. Restrictions on the type of payload itself may also be provided. For example, unstable or potentially explosive payloads may not be carried by UAVs. Flight restrictions may prohibit the carriage of fragile objects by UAVs. The characteristics of the payload may be regulated with respect to restricted flight zones.

[0072] Flight response measures can also specify activities that can be performed with respect to items carried by the UAV. For example, a flight response measure can specify whether items can be dropped off within a restricted flight zone. Similarly, a flight response measure can specify whether items can be picked up from a restricted flight zone. UAVs can have robotic arms or other mechanical structures that can assist in dropping or picking up items. UAVs can also have cargo bays that allow them to carry items. Activities related to payloads can be regulated relative to restricted flight zones.

[0073] The positioning of a payload relative to the UAV can be governed by flight response measures. The position of the payload relative to the UAV can be adjustable. The translational position of the payload relative to the UAV and / or the orientation of the payload relative to the UAV can be adjustable. The translational position can be adjustable relative to one, two, or three orthogonal axes. The orientation of the payload can be adjustable relative to one, two, or three orthogonal axes (e.g., pitch, yaw, or roll). In some embodiments, the payload can be attached to the UAV with a carrier that controls the positioning of the payload relative to the UAV. The carrier can support the weight of the payload on the UAV. The carrier can optionally be a gimbaled platform that allows the payload to rotate relative to the UAV about one, two, or three axes. One or more frame assemblies and one or more actuators can be provided to adjust the positioning of the payload. Flight response measures can control the carrier or any other mechanism that adjusts the position of the payload relative to the UAV. In one example, the flight response measures can prevent the payload from facing downward when flying over a restricted flight area. For example, the area may contain sensitive data that the payload may not be expected to capture. In another example, a flight response measure may cause the payload to move downward translationally relative to the UAV when the UAV is within a restricted fly area, which may allow for a wider field of view, such as panoramic image capture. The positioning of the payload may be dictated with respect to the restricted fly area.

[0074] The flight response measures may govern the operation of one or more sensors of the UAV. For example, the flight response measures may govern whether a sensor is turned on or off (or which sensors are turned on or off), the mode of collecting information, the mode of how the information is pre-processed or processed, the resolution used to collect information, the frequency or sampling rate used to collect information, the range from which information is collected, or the direction in which information is collected. The flight response measures may govern whether a sensor can store or transmit information. In one example, a GPS sensor may be turned off when the UAV is within a restricted fly area, while a visual sensor or an inertial sensor may be turned on for navigation purposes. In another example, an audio sensor of the UAV may be turned off when the UAV flies over a restricted fly area. The operation of one or more sensors may be governed with respect to a restricted fly area.

[0075] Communications of an unmanned aerial vehicle (UAV) can be controlled based on one or more flight response measures. For example, an UAV may be capable of remote communication with one or more remote devices. Examples of remote devices include a remote control capable of controlling the operation of the UAV, payload, carrier, sensor, or any other component of the UAV; a display terminal capable of displaying information received by the UAV; a database capable of collecting information from the UAV; or any other external device. Remote communication can be wireless communication. The communication can be direct communication between the UAV and the remote device. Examples of direct communication include WiFi, WiMax, radio frequency, infrared, direct visual communication, or other types of direct communication. The communication can be indirect communication between the UAV and the remote device, which can include one or more intermediary devices or networks. Examples of indirect communication include 3G, 4G, LTE, satellite, or other types of communication. Flight response measures can specify whether to enable or disable remote communication. Flight response measures can include conditions that prohibit the UAV from communicating under one or more wireless conditions. For example, communication may be prohibited when the UAV is within a restricted flight zone. Flight response measures can specify communication modes that may or may not be permitted. For example, the flight response measures may specify whether direct communication mode is allowed, whether indirect communication mode is allowed, or whether a preference is established between direct communication mode and indirect communication mode. In one example, only direct communication is allowed within flight restrictions. In another example, a preference for direct communication may be established throughout the restricted flight area as long as direct communication is available, otherwise indirect communication may be used, and communication is not allowed outside the restricted flight area. The flight response measures may specify the characteristics of the communication, such as the bandwidth used, the frequency used, the protocol used, the encryption used, and the devices that can be used to facilitate communication. For example, when the unmanned aerial vehicle is within a predetermined volume, the flight response measures may only allow communication using an existing network. The flight response measures may govern the communication of the unmanned aerial vehicle with respect to the restricted flight area.

[0076] Other UAV functions, such as navigation, power usage, and monitoring, can be governed by flight response measures. Examples of power usage and monitoring can include the amount of remaining flight time based on battery and power usage information, the battery's state of charge, or the amount of estimated distance remaining based on battery and power usage information. For example, a flight response measure can require that a UAV operating within a restricted flight zone have at least three hours of remaining battery life. In another example, a flight response measure can require that a UAV maintain a state of charge of at least 50% when outside of a restricted flight zone. Such additional functions can be governed by flight response measures with respect to restricted flight zones.

[0077] A restricted fly zone can be static. Alternatively, the boundaries of a restricted fly zone can change over time. For example, a restricted fly zone can be a school, and during school hours, the boundaries of the restricted fly zone may encompass the school. During after-school hours, the boundaries may be reduced or the restricted fly zone may be removed. During after-school hours, a restricted fly zone may be created at a nearby park where children participate in after-school activities. The flight response measures associated with a restricted fly zone can remain the same over time or change over time. Changes can be specified by time of day, day of the week, week of the month, month, quarter, season, year, or any other time-related factor. Information from a clock can provide time of day, date, or other time-related information that can be used to implement changes in boundaries or rules. A set of flight response measures can have dynamic components that respond to other factors in addition to time. Examples of other factors may include climate, temperature, detected light levels, detected presence of individuals or machines, environmental complexity, physical traffic (e.g., land traffic, pedestrian traffic, air traffic), wireless or network traffic, detected noise levels, detected movement, detected heat signatures, or any other factor.

[0078] A restricted flight zone can trigger any type of flight response action by the UAV. For example, the UAV can change its flight path. The UAV can automatically enter autonomous or semi-autonomous flight control mode from manual mode, or it can become unresponsive to certain user inputs. The UAV can allow another user to take over control of the UAV. The UAV can automatically land or take off. The UAV can send an alert to the user. The UAV can automatically slow down or accelerate. The UAV can adjust the operation of the payload, carrier, sensors, communication unit, navigation unit, and power regulation unit (which may include ceasing operation or changing operating parameters). Flight response actions can occur instantaneously or after a period of time (e.g., 1 minute, 3 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes). The period of time can be a grace period for the user to react and exercise some control over the UAV before the flight response action takes effect. For example, if a user is approaching a restricted flight zone, the user can be warned and can change the UAV's flight path to exit the restricted flight zone. If the user does not respond within the grace period, the UAV can automatically land within the restricted flight zone. The UAV can operate normally based on one or more flight commands from a remote control operated by a remote user. When a set of flight response measures conflict with the one or more flight commands, the flight response measures can override the one or more flight commands. For example, if a user commands the UAV to enter a no-fly zone, the UAV can automatically change its route to avoid the no-fly zone.

[0079] The parameters for a restricted fly zone may include the type or classification of the restricted fly zone. In some cases, the classification of the restricted fly zone may be manually input by the user. Alternatively, the classification may be automatically selected by one or more processors without user input. In some cases, some user input may be provided, but the one or more processors may make the final determination of the classification. In some cases, a list of classifications may be provided from which the user can select. The list may be predetermined. The list may include approximately two, three, four, five, six, seven, eight, nine, ten, twenty, forty, or more classifications of restricted areas. The various classifications of restricted fly zones may include airports, military bases, borders, sensitive public areas, private residences, commercial areas (e.g., commercial properties), and the like. As further described below, depending on the classification selected, the user may be required to provide different verifications. For example, verification may not be necessary to designate a restricted fly zone as a private residence; however, some verification or identification may be necessary to designate a restricted fly zone as an airport.

[0080] Figure 2 The three-dimensional shapes of restricted fly zones of different categories relative to ground level 200 are provided. The categories of restricted fly zones can be types of property or areas. Different types of entities (e.g., government entities, private entities, private individuals, public entities, etc.) can control different categories. Different categories can have the same associated three-dimensional size, shape, and / or orientation. For example, a military restricted fly zone and a private residential restricted fly zone can both have cylindrical shapes but different sizes. For example, a public sensitive area and a private residence can both have restricted fly zones with cylindrical shapes and the same size. Different categories (e.g., airports, private residences, borders, military bases, etc.) can have different associated three-dimensional sizes, shapes, and / or orientations. For example, an airport restricted fly zone can have shape 201, while a private residence can have shape 205. Restricted fly zones of the same category can have the same associated three-dimensional size, shape, and / or orientation. For example, all airport restricted fly zones can have shape 201 but different sizes. For example, all military restricted fly zones can have shape 203 and the same size. Restricted areas of the same classification may have different three-dimensional sizes, shapes, and / or orientations associated therewith. For example, some private residential restricted areas may have shape 203, while other private residential restricted areas may have shape 205.

[0081] The three-dimensional size and shape may correspond to the boundaries of the restricted fly zone for each classification. The three-dimensional shape of each classification may be regular (e.g., mathematically definable) or irregular. Each classification may not have a predetermined size and / or shape associated with it. As further described below, each classification may have a predetermined size and / or shape associated with it. For example, a classification may have a radius and altitude limit associated with it. The altitude limit may be an upper altitude limit (e.g., an altitude above which an unmanned aerial vehicle may operate) and / or a lower altitude limit (e.g., an altitude below which an unmanned aerial vehicle may operate). For example, a classification may have an associated shape (e.g., shape 201 described below) but not a size associated with the classification. For example, a classification may not have a predetermined shape, and the shape may depend on other information, such as a property boundary line.

[0082] Different classifications can be associated with different corresponding three-dimensional spaces. A restricted flight zone classified as an airport can have a three-dimensional shape 201, which includes an inner area 201a and an outer area 201b. In some cases, the inner area can have any shape. Alternatively, the inner area can have a substantially circular shape. For example, the inner area can have a cylindrical shape, with the circular base having a radius R. R can be greater than or equal to approximately 0.2 miles, 0.5 miles, 1 mile, 1.5 miles, 2 miles, or 5 miles. In some implementations, the inner area can extend upward from ground level indefinitely, or extend beyond the altitude at which unmanned aerial vehicles can fly. In some implementations, the inner area can extend upward from ground level to approximately 10m, 50m, 100m, 250m, 500m, 750m, or 1000m.

[0083] The outer area can be provided around the inner area. For example, the outer area can start from an outer radius R and be at a first height. The first height can be about or greater than 0m, 5m, 10m, 20m, 40m, 80m or 100m. The outer area can extend further outward (e.g., radially) at a predetermined elevation angle until a second height is reached. The predetermined elevation angle can be greater than or equal to about 5°, 10°, 15°, 30°, 45° or 70°. The predetermined elevation angle can be less than or equal to about 5°, 10°, 15°, 30°, 45° or 70°. The second height can be greater than or equal to about 10m, 50m, 100m, 250m, 500m, 750m or 1000m. In some embodiments, the outer area can extend upward indefinitely, or extend beyond the altitude at which the unmanned aerial vehicle can fly. In some implementations, the outer region may extend upward to approximately 10 m, 50 m, 100 m, 250 m, 500 m, 750 m, or 1000 m. Figure 2 As shown in FIG, the outer region 201b may have a substantially inverted cone shape.

[0084] Other classifications of restricted fly zones may have different sizes and shapes associated therewith. A restricted fly zone classified as a military base may have a restricted fly zone defined by a cylindrical shape having a base with a predetermined radius and extending from the ground to a predetermined height. For example, the predetermined radius may be greater than or equal to approximately 10m, 20m, 50m, 100m, 200m, 500m, or 1000m. For example, the predetermined height may be greater than or equal to approximately 10m, 50m, 100m, 250m, 500m, 750m, or 1000m.

[0085] A restricted flight area categorized as a border line may have a restricted flight area defined by a plurality of cylinders or flight restriction strips. Figure 3 A restricted flight area defined by multiple flight restriction zones is provided. The size or shape of the restricted flight area can be selected based on the shape of the boundary. One or more processors can be used to obtain data regarding the location of the boundary. For example, the one or more processors can download (e.g., automatically or on command) the location or information regarding the boundary from a database, such as a third-party data source. For example, a user can input data regarding the location of the boundary. In some cases, as described herein, the user can be an authorized user. The boundary of the area can be represented as a collection of points connected by lines. Points along the boundary can be manually determined. In some cases, points along the boundary can be manually controlled by the user. Points along the boundary can be automatically determined. For example, the one or more processors can select multiple points along the boundary. Points can be selected based on the shape of the boundary. Points along the boundary can be determined in advance or in real time. Points along the boundary can be determined based on coordinate points of the boundary (e.g., received from a local map of the environment). For example, points along the boundary can be determined based on changes in coordinate points along the boundary (e.g., changes in longitude and / or latitude). Points along the boundary can be equidistant from one another. Points along the boundary can also be at unequal distances from one another. Boundary 310 includes five straight lines, each with two endpoints. Each straight line of the boundary may be referred to herein as a flight restriction line. Each flight restriction line may represent the longitudinal axis of a flight restriction strip. For example, flight restriction line 305 represents the longitudinal axis of flight restriction strip 306. The flight restriction strip may be generated from points along the boundary determined using one or more processors.

[0086] The flight restriction zone can be defined by two circles, each of which has a corresponding radius R1 and R2 and each of which is centered on the two endpoints of the flight restriction line. The two circles can be connected by two lines tangent to the two circles. The area enclosed by the two circles and the tangent lines can represent the flight restriction zone. For example, the flight restriction zone 306 is defined by the area enclosed by a circle with a radius RA centered at point A, a circle with a radius RB centered at point B, and lines 308 and 309 tangent to the two circles. The two endpoints of the flight restriction line can be provided as a pair. Therefore, the flight restriction zone can accurately simulate the expected boundary area, and unexpected flight restriction zones (for example, Figure 3 , extending from point B to point C). Although flight-restricted zone 306 is defined by two circles centered at points A and B, the circular shape is not intended to be limiting, and it should be understood that any shape may be used, such as a square, trapezoid, rectangle, etc. In such a case, the restricted flight zone may be defined by a shape centered at both ends and two lines tangent to the two shapes.

[0087] Radius R1 and R2 may be configurable in the database. Radius R1 and R2 may be equal or unequal. Radius R1 and R2 may be set to give width to the flight restriction zone. Radius R1 and R2 may be set to any desired radius. The radius may depend on the type of restricted flight zone in question. For example, for a restricted flight zone associated with a national border, the radius may be approximately or less than 100 km, 50 km, 25 km, 10 km, 5 km, 2 km, or 1 km. For example, for a restricted flight zone associated with an airport boundary, the radius may be approximately or less than 500 m, 200 m, 100 m, 50 m, 20 m, 10 m, or 5 m. Alternatively, or in combination, the radius may be selected based on the shape of the boundary itself (e.g., angularity). For example, for a curved or circular boundary, a larger radius may be selected to cover the entire loop. Alternatively, or in combination, the radius may be selected based on real-world considerations. For example, if there is a territorial dispute between two countries, a larger radius, such as 100 km, may be set to ensure that the flight restriction zone covers a wider area. Radius R1 and R2 may each be approximately or less than 50 km, 25 km, 10 km, 5 km, 2 km, 1 km, 500 m, 200 m, 100 m, 50 m, 20 m, 10 m, or 5 m. The radius may provide width or a buffer to prevent UAVs from flying too close to a restricted flight area or flight restriction zone. For example, the radius may provide width or a buffer to a flight restriction zone to prevent UAVs from flying too close to a national border or airport.

[0088] The length of the flight restriction strip (e.g., the length of line 305 for flight restriction strip 306) can depend on the type of restricted flight zone in question. For example, for a restricted flight zone associated with a national border, the length of each flight restriction strip can be approximately or less than 500 km, 200 km, 100 km, 65 km, 50 km, 25 km, 10 km, 5 km, 2 km, or 1 km. For example, for a restricted flight zone associated with an airport boundary, the length of each flight restriction strip can be approximately or less than 10,000 ft, 5,000 ft, 2,000 ft, 1,000 ft, 500 ft, 200 ft, or 100 ft. Alternatively, or in combination, the length of the flight restriction strip can be selected based on the shape of the boundary itself. For example, for a curved or circular boundary, a smaller length can be selected to closely track the boundary. The length of each flight restriction zone may be approximately or less than 500 km, 200 km, 100 km, 65 km, 50 km, 25 km, 10 km, 5 km, 2 km, 1 km, 2,000 ft, 1,000 ft, 500 ft, 200 ft, or 100 ft.

[0089] A flight restriction line may have one or more flight restriction bands associated with it. For example, Figure 3 A flight restriction line 312 is shown having two associated flight restriction bands 314 and 316. Each flight restriction line may have one, two, three, four, five, or more associated flight restriction bands. A UAV may employ different flight response measures depending on the flight restriction band in which it is located. For example, the UAV may be prohibited from lateral movement into flight restriction band 214e. If the UAV is within flight restriction band 214e, a first flight response measure (e.g., automatic landing) may be employed. If the UAV is within flight restriction band 216e, a second flight response measure (e.g., prompting the UAV operator to land within a predetermined time period) may be employed. Flight response measures may affect the operation of the UAV. Flight response measures may control the UAV away from the user, may provide the user with a limited amount of time to take corrective action before controlling the UAV away from the user, may impose altitude restrictions, and / or may provide an alert or information to the UAV.

[0090] A restricted fly zone classified as a private residence may have a three-dimensional shape 203 that resembles a cylinder having a base with a predetermined radius and a set of low and high altitude limits (e.g., a lower altitude limit and an upper altitude limit). For example, the predetermined radius may be greater than or equal to approximately 10m, 20m, 50m, 100m, 200m, 500m, or 1000m. For example, the lower altitude limit may be less than or equal to approximately 2m, 5m, 10m, 15m, 20m, 30m, 40m, 50m, 75m, 100m, 150m, 200m, 300m, 400m, 500m, 750m, or 1000m. For example, the upper altitude limit may be greater than or equal to approximately 2 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m, 75 m, 100 m, 150 m, 200 m, 300 m, 400 m, 500 m, 750 m, or 1000 m. For such a restricted fly zone, an unmanned aerial vehicle may be able to fly above a certain altitude or below a certain altitude, or may be restricted to the space in between. In some cases, a restricted fly zone classified as a private residence may have a three-dimensional shape 205. For example, the boundaries of the restricted fly zone may be defined by property lines (e.g., accessible from public or private records or received from a user) and predetermined altitude limits (e.g., a set of lower limits and a set of upper limits).

[0091] Different classifications may have different sets of flight response measures associated with them. Different classifications may be associated with any corresponding flight response measures as described herein. For example, a set of flight response measures associated with a restricted fly zone classified as an airport may prohibit an unmanned aerial vehicle from entering the restricted fly zone. In contrast, an unmanned aerial vehicle may be issued a warning signal if it enters a restricted fly zone classified as a private residence but may be allowed to enter the restricted fly zone. In some cases, an unmanned aerial vehicle may be allowed to enter a restricted fly zone classified as a private residence, but sensors on the unmanned aerial vehicle (e.g., a camera) may be inoperable while in the restricted fly zone.

[0092] Come back for reference Figure 1In step 104, a three-dimensional space for each restricted fly zone may be determined with the aid of one or more processors. This three-dimensional space may have any shape and size. This three-dimensional space may depend on input parameters for the restricted fly zone. In some cases, user-input parameters may be sufficient to generate or determine the three-dimensional space. For example, if the user-input parameters include the radius, altitude limits (e.g., upper and lower limits), and location of the restricted fly zone, the three-dimensional space may be defined by a cylinder with a base centered at the location. Other exemplary shapes for the three-dimensional space may include, but are not limited to, a sphere, a hemisphere, a cube, a rectangular prism, an irregular shape, and the like. If the user manually configures a shape (e.g., by drawing, tracing, or selecting), the three-dimensional space may be defined by the configured shape. In some cases, if the user-input parameters include the classification and location of the restricted fly zone, the three-dimensional space of the restricted fly zone may be defined as described herein (e.g., a corresponding predetermined three-dimensional space). In some cases, the user-input parameters may be supplemented by pre-configured parameters to determine and / or store the three-dimensional space of the restricted fly zone. For example, other parameters (e.g., parameters not input by the user) may be automatically selected with the aid of one or more processors. For example, the user input may include the location of a restricted fly zone, and preconfigured radius and / or altitude limits may be coupled to the location to determine the three-dimensional space of the restricted fly zone. In some cases, as further described below, the user input parameters may not be sufficient to generate the three-dimensional space of the restricted fly zone, and additional information may be extracted from external data sources.

[0093] Figure 4 According to an embodiment, a method 400 for collecting information about restricted fly zones is provided. Similarly, a non-transitory computer-readable medium containing program instructions for executing the method 400 may also be provided. The method 400 may include a step 402 of loading other restricted fly zones or information associated with the restricted fly zones (e.g., other parameters) into a database (e.g., by a user) and a step 404 of loading other restricted fly zones or information associated with the restricted fly zones (e.g., other parameters) out of the database (e.g., by a processor coupled to the database).

[0094] In step 402, input specifying the location of a restricted fly zone is received from a user via a user input device. One or more parameters of a restricted fly zone as described herein may be provided (eg, called in) by a user input device as previously described herein.

[0095] In step 404, one or more external data sources may be searched (e.g., pulled) by one or more processors to obtain information associated with the restricted fly zone or other restricted fly zones. For example, one or more processors may utilize a web crawler or spidering software to search the external data sources. The web crawler or spidering software may systematically browse the World Wide Web to search for new or updated information about potential restricted fly zones (e.g., new airports, new government buildings, etc.). The external data sources may include any source of information that is not input by a user. For example, the external data sources may include government data sources, sources that list airport information, public records, sources that are publicly accessible via the Internet, sources that are privately accessible when access is granted, and the like.

[0096] Step 404 may or may not be directly related to step 402. For example, without considering any user input, one or more processors associated with a database for managing restricted fly zones may conduct an online search for information regarding airports, military bases, other sensitive areas (e.g., public sensitive areas), jurisdictional boundaries, and the like. Based on this information (e.g., the location of the airport, etc.), other parameters of the restricted fly zone (e.g., location, shape, size, etc.) may be determined or generated and stored in the database. For example, one or more processors associated with the database may search for information regarding new sensitive areas since the database was last updated. Step 404 may be related to the user input in step 402. For example, the search may be for any sensitive areas near the restricted fly zone input by the user. Step 404 may be directly dependent on the parameters input by the user in step 402. For example, the user input may include the location of the restricted fly zone.

[0097] User input parameters may not be sufficient to determine or generate a three-dimensional space for a restricted fly zone, and additional information may be collected from external data sources. For example, based on the location, one or more processors may search for information associated with (e.g., related to) the restricted fly zone. Information related to flight restrictions may be, for example, a property boundary line at a given location. The three-dimensional space may then be determined or generated based on the property boundary line and an altitude limit (e.g., input by the user) or a predetermined altitude limit. Other information related to flight restrictions may be extracted from external data sources. For example, ownership of a given location (e.g., a restricted fly zone), the identity of the user, the classification or type of the restricted fly zone, the type of appropriate flight response measures, etc. may be extracted from the external data source.

[0098] The collected information about other restricted flight zones or information associated with the input restricted flight zones, along with parameters associated with the input restricted flight zones, can be further stored in one or more memory units. The one or more memory units can be coupled to the restricted flight zone database as mentioned herein.

[0099] Figure 5 A schematic diagram of information flow to and from platform 500, according to an embodiment, is provided. The platform can receive input specifying parameters for restricted fly zones. This input can come from one or more users 501 using a user input device. A user can be any individual or entity. For example, a user can be a property owner, an airport employee, a government agency, or any other entity. A user can enter parameters for a desired restricted fly zone. A user may be unlimited in the number of restricted fly zones for which the user can enter parameters. For example, a government agency, such as the Department of Defense, may be unlimited in the number of suggested restricted fly zones for which the user can enter parameters. In some cases, as described elsewhere, a user may be limited in the number of restricted fly zones for which the user can enter parameters. For example, a property owner may be limited to entering parameters for one suggested restricted fly zone, one suggested restricted fly zone per registration with the website, one suggested restricted fly zone per land ownership certification, and so on. A user may be limited or unlimited in the number of restricted fly zones for which they can enter parameters based on the user type. As used herein, a user type may refer to a predetermined category under which a user may be classified. For example, user type can refer to an individual, a government entity, a property owner, a real estate owner, a verified individual, an unverified individual, a group, an entity, etc.

[0100] Users can access information from the platform. The platform may include one or more databases of restricted fly zones. The databases may be coupled to a user-accessible program, website, or application. For example, a user, such as an airport employee, may use a user terminal, such as a computer, mobile device, cell phone, PDA, tablet computer, or the like, to access a website containing a list (e.g., a table) of restricted fly zones. For example, a user may use a user terminal (e.g., a user terminal including a display) to access a graphical user interface via a website or application. The GUI (graphical user interface) may display a map (e.g., a global map or a local map) in which the restricted fly zones contained in the database may be viewed. For example, the restricted fly zones may be viewed in two or three dimensions. The GUI may also display parameters of the restricted fly zones. In some cases, a user may both access the information contained in the database and enter parameters of the restricted fly zones on the GUI (e.g., using a user terminal). For example, a user may view a map showing the restricted fly zones on the GUI and trace the shape of the proposed restricted fly zones on the map.

[0101] The platform may also access external data sources 503 to gather (e.g., retrieve) information about restricted fly zones. For example, the platform may utilize web crawler or spider software to systematically search for restricted fly zones. The database may be continuously updated by users of such software. Information may be retrieved from a single external source, multiple external sources, a single type of external source, or multiple types of external sources. Different types of external sources may include government data sources, sources that list airport information, public records, sources that are publicly accessible via the internet, sources that are privately accessible when access is granted, and the like. Different types of external sources may be owned and / or operated by different entities. Different types of external sources may be owned and / or operated by the same entity.

[0102] The information about restricted fly zones can be information about other restricted fly zones that are not related to the user-entered parameters of the restricted fly zones. For example, the platform can use a web crawler to search for information about the parameters (e.g., location) of any new airports or public sensitive areas. The information about restricted fly zones can be information related to the user-entered restricted fly zones. For example, the parameters of the restricted fly zones entered by the property owner can be the location of the proposed restricted fly zone. The platform can receive information and use a web crawler to collect information about property ownership information or property boundary lines associated with the location of the proposed restricted fly zone.

[0103] The platform can also be utilized in the operation of an unmanned aerial vehicle. The platform can be accessed by an unmanned aerial vehicle operator or an unmanned aerial vehicle controller 505. For example, an unmanned aerial vehicle operator can access a graphical user interface (GUI) via a website or application using a user terminal (e.g., including a display). The GUI can display a map (e.g., a global or local map) in which the restricted fly zones contained in the database can be viewed. For example, the restricted fly zones can be viewed in two or three dimensions. The GUI can also display parameters for the restricted fly zones. In some cases, the unmanned aerial vehicle operator can both access the information contained in the database and enter the parameters of the restricted fly zones desired by the unmanned aerial vehicle operator on the GUI (e.g., using a user terminal). The restricted fly zone parameters entered by the unmanned aerial vehicle operator can be personal to the unmanned aerial vehicle operator and may be referred to herein as a personal restricted fly zone. As used herein, a personal restricted fly zone can prevent or restrict the operation of the unmanned aerial vehicle operator's unmanned aerial vehicle, but may not prevent or restrict other unmanned aerial vehicles from operating within the personal restricted fly zone. A personal restricted fly zone can be unique to the unmanned aerial vehicle operator. For example, other users may not be able to access the parameters of the restricted flight zone entered by the unmanned aerial vehicle operator, and only the unmanned aerial vehicle operator who entered the parameters of the restricted flight zone may be able to view and download the personal restricted flight zone. In some cases, the parameters of the personal restricted flight zone can be shared with other unmanned aerial vehicle operators. For example, the parameters of the personal restricted flight zone entered by the unmanned aerial vehicle operator can be uploaded to the database of the platform as described herein and can be accessed and viewed by other unmanned aerial vehicle operators. The unmanned aerial vehicle operator may not need verification and / or authentication to enter the personal restricted flight zone. The unmanned aerial vehicle operator may not need to control the personal restricted flight zone to designate it as a personal restricted flight zone.

[0104] A personal restricted flight zone may be a type of voluntary restricted flight zone. As used herein, a voluntary restricted flight zone may refer to a restricted flight zone in which an unmanned aerial vehicle operator voluntarily restricts the operation of an unmanned aerial vehicle. In some cases, the parameters of a voluntary restricted flight zone may be input by a user rather than the unmanned aerial vehicle operator. An unmanned aerial vehicle operator may decide to opt into a voluntary restricted flight zone. Only unmanned aerial vehicle operators who opt into a voluntary restricted flight zone may be subject to the flight response measures associated with the voluntary restricted flight zone. A user may not require verification and / or authentication to enter a voluntary restricted flight zone. A user may not need to control a voluntary restricted flight zone to designate it as a voluntary restricted flight zone.

[0105] In some cases, personal or voluntary restricted flight zones can provide obstacle avoidance functionality for UAV operators. For example, a personal restricted flight zone entered by a UAV operator can set a lower altitude limit below which the UAV may be unable to descend to avoid obstacles near the lower altitude limit. For example, a voluntary restricted flight zone entered by a user can prevent flight within the restricted flight zone due to known hazardous flight conditions for UAVs. A GUI can be utilized to operate a UAV. For example, a UAV operator can utilize the GUI when planning a flight route as described herein.

[0106] The platform can be accessed directly by the UAV itself. For example, the UAV can access the platform using a network connection (e.g., WiFi, 3G, 4G signal). The UAV can access the information contained in the database and operate according to the flight response measures associated with the restricted flight areas contained in the database.

[0107] Figure 6 A method 600 for designating a restricted fly zone, according to an embodiment, is provided. Similarly, a non-transitory computer-readable medium containing program instructions for executing method 600 may also be provided. In step 602, input of one or more parameters designating a restricted fly zone is received from a user via a user input device. The one or more parameters may include the location of the restricted fly zone. The one or more parameters may include a user identifier (ID) or the user's real name. The user identifier may uniquely identify or distinguish the user from other users.

[0108] In step 604, one or more processors may verify whether the user is authorized to designate the location as a restricted fly zone. The verification may include an authentication process or an approval process. The approval process may include verifying the user's identity. The approval process may include verifying that the user is authorized to designate the location as a restricted fly zone. The approval process may include verifying both the user's identity and the user's authorization to designate the location as a restricted fly zone. The user's identity may be verified after verifying that the user is authorized to designate the location as a restricted fly zone. The user's identity may be verified before verifying that the user is authorized to designate the location as a restricted fly zone. The user's identity may be verified while verifying that the user is authorized to designate the location as a restricted fly zone.

[0109] Different approval processes may exist and be employed for different restricted fly zones. The same approval process may exist and be employed for different restricted fly zones. In some cases, verification may occur automatically with the aid of one or more processors. For example, based on the input received in step 602, the platform may utilize a web crawler as described herein to search one or more external data sources. Verification may occur based on information gathered from the external data sources. For example, based on the input location of the proposed restricted fly zone and the input user name, information regarding land ownership may be gathered from public records to verify the user's control over the proposed restricted fly zone and / or the user's identity. In some cases, verification may be performed manually. For example, after the user submits the parameters for the proposed restricted fly zone, someone associated with the platform or a third party may place a telephone call with the user to verify the user's control over the proposed restricted fly zone and / or the user's identity. In some cases, the user may be required to submit additional documentation proving control over the restricted fly zone and / or the user's identity. Such additional documentation may be processed automatically or manually to verify whether the user is authorized to designate the location as a restricted fly zone. In some cases, verification may occur automatically without human input or without reliance on human input during the verification phase.

[0110] If a user exercises control over a restricted fly zone, they can be authorized to designate a location as a restricted fly zone. In some cases, if the user owns a restricted fly zone, they can exercise control over that restricted fly zone. For example, the owner of a residential property (e.g., a house, townhouse, or apartment) or a commercial property (e.g., a building site) can be authorized to designate that property as a restricted fly zone. In some cases, if a user is a resident or tenant of a restricted fly zone, they can exercise control over that restricted fly zone. In some cases, if the regulatory entity conveys authorization to the user, the user can exercise control over a restricted fly zone. For example, airport security personnel can exercise control over restricted fly zones within or near an airport. For example, employees of government agencies such as the Federal Aviation Administration (FAA), the Federal Trade Commission (FTC), the Federal Communications Commission (FCC), the National Telecommunications and Information Administration (NTIA), the Department of Transportation (DoT), or the Department of Defense (DoD) can exercise control over areas associated with that agency. For example, border patrol officers can exercise control over restricted fly zones within or near national borders. For example, a government official may control a restricted fly zone within or near a corresponding government building. Verification may include confirming that the user controls the restricted fly zone. For example, the user may demonstrate control of the restricted fly zone by proving ownership of or residency at the proposed location (e.g., via land title, lease agreement, credit card address, bank account address, listed employer address, utility bill, etc.). For example, the user may demonstrate control of the restricted fly zone by proving granted authorization (e.g., via an email address, employment letter, phone number, etc.).

[0111] The user's identity may be authenticated or verified. For example, the user's identity may be authenticated via an input password, phrase, or code. For example, the user's identity may be verified via biometric input from the user. For example, the user's identity may be verified via proof of a unique object owned by the user (e.g., land title to a proposed restricted fly zone). For example, the user's identity may be verified via a utility bill for the location of the restricted fly zone. For example, the user's identity may be verified via a phone call from the user.

[0112] Alternatively or additionally, other approval processes may be utilized. For example, the approval process may include receiving a declaration from a user that they exercise control over a restricted fly zone. For example, the approval process may include the user registering with a website that is associated with a database as described herein. For example, the approval process may include verifying an IP address, user ID, and / or email address associated with the user. A combination of the aforementioned approval processes may be utilized. For example, a user may be required to register with a website, verify their identity, and demonstrate control over a restricted fly zone in order to be able to designate a restricted fly zone.

[0113] The degree or type of certification or verification required may depend on the parameters of the proposed flight restriction. For example, the degree of verification required may depend on the size, shape, duration, flight response measures, classification, etc. of the proposed flight restriction. For example, a larger proposed restricted flight area may require a higher level of certification or verification (e.g., more steps or a more stringent process). For example, a more stringent flight response measure proposed for a restricted flight area (e.g., a no-fly zone) may require a higher level of certification or verification. For example, a longer duration restricted flight area (e.g., indefinite) may require a higher level of certification or verification. As used herein, a higher level of certification or verification may mean that more verification steps are required. For example, a lower level of certification may include approximately or less than one, two, three, four, or five verification steps. For example, a lower level of certification may include submitting a utility bill. For example, a higher level of certification may include approximately or more than two, three, four, or five verification steps. For example, a higher level of certification may include registering with a website, submitting a copy of a driver's license, and submitting a utility bill. As used herein, a higher level of certification or verification may mean that a more stringent process is required. For example, a lower level of verification may include registering with a website. For example, a higher level of verification may include submitting a property title.

[0114] For example, as previously described, the classification of the proposed restricted fly zone may determine the degree or type of verification necessary. Different approval processes may exist and be employed for restricted fly zones of different classifications. The same approval process may exist and be employed for restricted fly zones of different classifications. Different approval processes may exist and be employed for restricted fly zones of the same classification. The same approval process may exist and be employed for restricted fly zones of the same classification. For example, for a restricted fly zone associated with a private residence, the approval process may require receipt of proof of land ownership for the proposed restricted fly zone, or require the user to register with a website associated with a database. For example, for a restricted fly zone associated with a border, the approval process may require verification of the user's IP address or email address.

[0115] In some cases, a third party may verify that a user exercises control over a restricted fly zone. For example, a third party may track real estate sales and ownership. The third party may receive information from the user and / or a database, verify that the user is authorized to designate a location as a restricted fly zone, and send an electronic transmission confirming or denying that the user is an authorized user.

[0116] Restricted fly zones that have been verified as input by an authorized user may be stored in a restricted fly zone database. Restricted fly zones that have not been verified as input by an authorized user may or may not be stored in the restricted fly zone database. Restricted fly zones that have been verified as input by an authorized user may be accepted. Restricted fly zones that have not been verified as input by an authorized user may be accepted or rejected. Accepting or rejecting a proposed restricted fly zone may occur in real time. Accepting or rejecting a proposed restricted fly zone may be delayed or occur at predetermined intervals. For example, the predetermined interval may be greater than or equal to approximately 1 minute, 5 minutes, 10 minutes, 30 minutes, 1 hour, 3 hours, 6 hours, 12 hours, 1 day, 3 days, 1 week, 2 weeks, or 1 month. For example, the delay may be greater than or equal to approximately 1 minute, 5 minutes, 10 minutes, 30 minutes, 1 hour, 3 hours, 6 hours, 12 hours, 1 day, 3 days, 1 week, 2 weeks, or 1 month after the user input regarding the restricted fly zone.

[0117] Certified and uncertified restricted flight zones can be associated with different flight response measures as provided herein. A certified restricted flight zone can refer to a restricted flight zone that has been verified as being entered by an authorized user. An uncertified restricted flight zone can refer to a restricted flight zone that has not yet been verified as being entered by an authorized user. For example, a certified restricted flight zone can be associated with a flight response measure that prevents an unmanned aerial vehicle from entering the restricted flight zone, or a flight response measure that turns off a sensor (e.g., a camera) on the unmanned aerial vehicle when the unmanned aerial vehicle enters the restricted flight zone. For a certified restricted flight zone, the user's identity may be verified or may not yet be verified. For example, an uncertified restricted flight zone can be associated with a flight response measure that provides an alert to the user, but not with a flight response measure that prevents an unmanned aerial vehicle from entering the restricted flight zone or a response measure that renders a payload or sensor inoperable within the restricted flight zone.

[0118] As referred to herein, a user may be limited in the number of times they can submit input (e.g., input specifying parameters of a restricted fly zone) or may be unlimited. For example, a user may be limited to submitting a single input (e.g., a single location of a restricted fly zone). For example, a user may be limited to a single input per registration (e.g., registration with a website associated with a database). For example, a user may be limited to a single input per verifiable email address. For example, a user may be limited to a single input per IP address. For example, a user may be limited to a single input per proof of ownership of an unmanned aerial vehicle. The restrictions on inputs may depend on the type or classification of restricted fly zone desired. For example, for a restricted fly zone associated with a private residence, a user may be limited to a single input per land ownership. For example, for a restricted fly zone associated with a border line, a user may be unlimited in the number of inputs they can submit.

[0119] A restricted fly zone as referred to herein may persist indefinitely. Alternatively, a restricted fly zone as referred to herein may be temporary. A restricted fly zone may exist for a certain period of time. The period of time may have a predetermined length (e.g., 10 minutes). For example, the predetermined period of time may be 1 minute, 2 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 60 minutes, 120 minutes, 180 minutes, 6 hours, 12 hours, 1 day, 1 week, 1 month, 3 months, 6 months, 1 year, or indefinitely. The predetermined length may begin upon input of a restricted fly zone (e.g., input of parameters specifying a restricted fly zone) and continue for a certain length. Alternatively or additionally, the predetermined length may be from a specified start time to an end time (e.g., independent of the time input by the user). For example, the predetermined length may be from 2:00 p.m. to 3:00 p.m. on March 1, 2020.

[0120] The time period may be determined based on one or more set conditions. The set conditions may or may not involve a time frame. For example, the set condition may be during a special event such as a national holiday or during the presidential campaign period. For example, the set condition may be during a time period when an entity is holding a meeting (e.g., a government entity such as the White House or the United Nations), or during a time period when a meeting is being held in or near a designated area (e.g., a press conference is being held in or near a building). The set condition may be related to external conditions or events. The set condition may or may not be predictable. For example, the set time period may be determined based on conditions related to weather (e.g., rain, snow, sunny, windy, etc.), traffic conditions, earthquakes, national emergencies, etc. The set condition may involve a predetermined time frame. For example, the set condition may be during a press conference scheduled from 2:00 p.m. to 4:00 p.m. on March 1, 2015.

[0121] The time period may be arbitrary, and any time period may be specified. The time period may be recurring. For example, the time period may be the second Saturday of each month, Tuesdays of each week, etc. The restricted fly zone may be continuous or discontinuous according to a schedule that may include irregular time periods. Data regarding the schedule may be retrieved from a calendar (e.g., personal or global), the internet, news, etc. The set conditions and / or predetermined length may be parameters of the restricted fly zone input by the user (e.g., input in step 102 of method 100). The set conditions and / or predetermined length may be assigned independently of any user input.

[0122] Outside of the time period, the restricted fly zone may be canceled or empty. For example, the restricted fly zone may no longer be displayed on the user interface described previously. For example, outside of the time period, the restricted fly zone may no longer be associated with a set or multiple sets of flight response measures. A restricted fly zone may be associated with a different set or multiple sets of flight response measures when outside of the time period. For example, during the time period, a set of flight response measures associated with the restricted fly zone may prevent UAVs from operating within the restricted fly zone. Outside of the time period, a different set of flight response measures may apply to UAVs (e.g., you may operate UAVs within the restricted fly zone, but may receive a warning) or there may be no sets of flight response measures associated with the zone. For example, if the time period is defined as the duration of a public event being held at the White House, UAVs may fly freely during that time period; however, outside of that time period, a set of flight response measures associated with the restricted fly zone may prevent UAVs from operating within the restricted fly zone.

[0123] Restricted fly zones may be stored in a database as described herein. For example, parameters of a restricted fly zone, such as location and three-dimensional boundaries (e.g., radius, altitude limit, etc.), may be stored in the database. The database may be continuously updated. The database may be updated in real time. For example, the database may be updated each time user input is received or an external database is searched as described herein. Alternatively, the database may be updated at predetermined intervals. For example, the database may be updated every minute, 30 minutes, 1 hour, 12 hours, daily, 5 days, 10 days, monthly, 3 months, 6 months, etc. The restricted fly zones contained in the database may be editable.

[0124] Restricted zones in the database may expire. Restricted zones in the database may persist indefinitely. For example, restricted zones in the database may expire after approximately or more than 10 minutes, 30 minutes, 1 hour, 6 hours, 12 hours, 24 hours, 3 days, 1 week, 2 weeks, 1 month, 3 months, 6 months, 1 year, 2 years, etc. Restricted zones that have not yet been certified may expire. Restricted zones of certain categories may expire, but not others. For example, restricted zones with a category of private residence may expire, but restricted zones with a category of airport may not. Restricted zones contained in the database may be renewed. For example, restricted zones previously entered by a user may need to be renewed to remain stored in the database. Restricted zones may be renewed before their expiration date. Restricted zones may be renewed after their expiration date. Restricted zones that have not yet been renewed may be canceled or deleted from the database. For example, renewal may be required approximately or more frequently than every 10 minutes, 30 minutes, 1 hour, 6 hours, 12 hours, 24 hours, 3 days, 1 week, 2 weeks, 1 month, 3 months, 6 months, 1 year, 2 years, etc. Renewal may be required for uncertified restricted areas. Some restricted areas may require renewal, but others may not. For example, restricted areas associated with private residences may require renewal, while restricted areas associated with airports or national borders do not.

[0125] The restricted fly zones within the database may be edited. The editing may or may not be performed by the user who input the parameters of the restricted fly zone. The editing may require a verification or approval process substantially as described herein. Editing may include canceling a restricted fly zone. Editing may include updating certain parameters of a restricted fly zone. For example, the three-dimensional space of a restricted fly zone may be edited to encompass a smaller or larger area than before. For example, the flight response of a restricted fly zone may be edited.

[0126] As mentioned herein, the database can be coupled to a graphical user interface (GUI). The GUI can be displayed on a display (e.g., a screen) of the user interface. For example, the user interface can access a browser or application to access the information contained in the database. The user interface can display a two-dimensional or three-dimensional representation of the restricted fly zone on a map (e.g., a global map). Figure 7A user interface including a two-dimensional view 702 and a user interface including a three-dimensional view 710 of a restricted fly zone is provided. The user interface may also display parameters associated with the restricted fly zone (e.g., global coordinates, street addresses, flight response measures, etc.). The user interface may be interactive. For example, a user may be able to input a restricted fly zone through a user interface as described herein. The user interface may be accessible on a website associated with a database. The user interface may be accessible through an application (e.g., an application on a mobile device). The website or application may also be coupled to an unmanned aerial vehicle. For example, an unmanned aerial vehicle may utilize the user interface to input a personal restricted fly zone that the unmanned aerial vehicle operator does not want the unmanned aerial vehicle to fly into. For example, the unmanned aerial vehicle operator may not want the unmanned aerial vehicle to fly in an area known to have adverse conditions (e.g., known to have strong winds, near a border, too far from a coastline, near important government buildings, near unruly neighbors, etc.).

[0127] A user interface can be used to plan and / or display a flight path for an unmanned aerial vehicle. A flight path can be generated on the user interface. The flight path can be automatically generated or manually generated. For example, a flight path can be manually generated based on a user tracing a flight path on a two-dimensional or three-dimensional view of the user interface. A user may not be allowed to draw or trace restricted flight areas (e.g., no-fly zones). A user may be allowed to draw or trace restricted flight areas. For example, a user may draw freehand on the user interface displaying the restricted flight areas. A user may submit a proposed flight path, which may be reviewed by an operator or automatically by one or more processors. The proposed flight path may be accepted, rejected, or modified by the operator or automatically. Alternatively, or in combination, a flight path can be automatically generated based on the three-dimensional space of the restricted flight area. For example, a user may input a desired starting point A and a desired end point B. Based on points A and B, a flight path can be automatically generated while taking into account the three-dimensional space of the restricted flight area. Taking into account the three-dimensional space can support new flight paths. For example, in two-dimensional representation 702, the flight path from point A to point B appears to encroach on restricted flight areas 704 and 706. In three-dimensional view 710, it can be seen that the flight path circumscribes restricted fly zone 712 and travels above restricted fly zone 714. Considering the three-dimensional space of restricted fly zones can enable more efficient planning of flight paths, which can be utilized in various applications such as autonomous delivery of goods.

[0128] Figure 8A method 800 for operating an unmanned aerial vehicle in a restricted flight area according to an embodiment is provided. In step 802, an application for flight in a restricted flight area may be made with the aid of a user terminal. The user terminal may be, for example, a mobile device such as a cellular phone, a PDA, or a tablet computer. The user terminal may be, for example, a remote controller. The user terminal may include a display unit. The display unit may display a user interface as described herein (e.g., a two-dimensional representation or a three-dimensional representation of a restricted flight area on a map). The user interface may be accessed through an application or a website. The user interface may be interactive. For example, an unmanned aerial vehicle operator may select a restricted flight area on the user interface via a pointer selection (e.g., a mouse pointer) or a finger touch and apply to fly within the area.

[0129] Optionally, applying to fly in a restricted flight area may include applying for a permitted flight time. The permitted flight time may be temporary or indefinite. For example, the permitted flight time may be approximately or less than 1 minute, 2 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 60 minutes, 120 minutes, 180 minutes, 6 hours, 12 hours, 1 day, 1 week, 1 month, or indefinite. Applying to fly in a restricted flight area may include applying for a permitted flight area. The permitted flight area may be defined by a three-dimensional shape. The permitted flight area may be equal to the restricted flight area. The permitted flight area may be a subset of the restricted flight area (e.g., smaller than the restricted flight area). For example, an area within a restricted flight area may be defined by a narrow band above a certain altitude (e.g., 100 meters).

[0130] Optionally, requesting to fly in a restricted flight area may include requesting a permitted flight response measure. For example, the UAV operator may suggest a permitted flight response measure to be followed while in a restricted flight area. The permitted flight response measure may be selected from a list of flight response measures. The permitted flight response measure may be automatically selected by one or more processors without user input. In some cases, some user input may not be provided, but the one or more processors may make the final determination of the flight response measure. For example, the UAV operator may suggest flying above a certain altitude while in a restricted flight area. For example, the UAV operator may suggest turning off sensors on the UAV while in a restricted flight area.

[0131] In step 804, approval to fly within the restricted flight area may be received at the user terminal. The approval may be provided by a third party. The third party may be a person who exercises control over the restricted flight area, as substantially described herein. The third party may be a person associated with the database. If a permitted flight area, permitted flight time, or permitted flight response measure has already been requested in step 802, the third party may accept (e.g., approve) or reject the approval. If a permitted flight area, permitted flight time, or permitted flight response measure has already been requested in step 802, the third party may accept the approval but specify its own permitted flight time, permitted flight area, and / or permitted flight response measure. If a permitted flight area or permitted flight time has not yet been requested in step 802, the third party may accept the approval but specify its own permitted flight time, permitted flight area, and / or permitted flight response measure. Receiving the approval may include receiving a notification of the approval. For example, the user terminal may send an alert indicating receipt of the approval. The alert may be visual, tactile, audible, etc.

[0132] In step 806, the one or more processors may determine an approved area and an approved time. For example, the one or more processors may determine that the approved area is equal to the permitted flight area (the permitted flight area applied for by the user terminal or provided by a third party). For example, if no approved area has been applied for or provided by a third party, the one or more processors may determine the approved area (e.g., from a predetermined list based on a preset configuration, conditions, etc.). The approved area may be defined by a three-dimensional shape. The approved area may be a small portion of the restricted flight area (e.g., smaller than the restricted flight area). For example, the one or more processors may determine that the approved time is equal to the permitted flight time (the permitted flight area applied for by the user terminal or provided by a third party). For example, if no approved area has been applied for or provided by a third party, the one or more processors may determine the approved time (e.g., from a predetermined list based on a preset configuration, conditions, etc.). The approved time may be approximately or less than 1 minute, 2 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 60 minutes, 120 minutes, 180 minutes, 6 hours, 12 hours, 1 day, 1 week, 1 month, or indefinitely.

[0133] In step 808, the unmanned aerial vehicle can be operated within the approved area and within the approved time. If a permitted flight response measure has been applied for and approved or specified, the unmanned aerial vehicle can operate under the permitted flight response measure. The user terminal can send a signal to the unmanned aerial vehicle to convey the approved time and / or approved area. The unmanned aerial vehicle can return a confirmation of receipt of the approved time and / or approved area to the user terminal. Unmanned aerial vehicles operating outside the approved area and / or outside the approved time can comply with one or more flight response measures associated with the restricted flight area. For example, if the approved time expires when the unmanned aerial vehicle is within the approved area, the unmanned aerial vehicle can automatically descend and land. Alternatively, the unmanned aerial vehicle can automatically fly out of the restricted flight area. For example, if the unmanned aerial vehicle flies outside the approved area (but still within the restricted flight area), the unmanned aerial vehicle can automatically descend and land, and the unmanned aerial vehicle operator can receive a warning signal, etc.

[0134] Figure 9 The diagram illustrates a schematic diagram of an unmanned aerial vehicle (UAV) flying within a restricted flight zone, according to an embodiment. A user 902 may apply to fly within a restricted flight zone via a user terminal 904. The user terminal may apply to fly within a restricted flight zone by communicating with a database managing the restricted flight zone or by communicating with a third party (e.g., via database communication). For example, the user terminal may include a website or application in which the user terminal may send a query to a database or third party associated with the restricted flight zone. When applying to fly within a restricted flight zone, the user may provide various information. For example, the user may provide their real name, the reason for applying to fly within the restricted flight zone, and a desired permitted flight time or permitted flight zone, as described herein. A third party 906 may approve or deny the request. The third party may be a human, program, entity, or device. Alternatively, or in combination, the third party may specify its own permitted flight zone and permitted flight time. Following approval, the user terminal may determine the approved zone and approved time, using one or more processors, as described herein. The approved zone and approved time may be communicated by the user terminal to the UAV or UAV flight controller 908. The UAV flight controller may optionally send confirmation feedback back to the user terminal.

[0135] Figure 10According to an embodiment, a platform 1000 for managing restricted fly zones is provided. The platform can interact with various users, external data sources, unmanned aerial vehicles (UAVs), or UAV operators. The platform can provide an interface for each user to input a restricted fly zone. The platform can receive input from multiple users (e.g., users A, B, and C) via user input devices, specifying parameters for the restricted fly zone. For example, user A, a homeowner, can enter the location of their home 1002. For example, user B, a private park employee, can enter the location of the park 1004. For example, user C, an assistant to a government representative, can enter the location where the government representative will give a speech 1006. User C can also enter a desired radius r of the restricted fly zone. Based on the input parameters for the restricted fly zone, a restricted fly zone can be determined. For example, based on user C's input, a restricted fly zone can be determined 1007. The platform can be configured to aggregate input from various users. The platform can also include, or be associated with, an authentication (e.g., verification) mechanism or approval process as described herein. Based on the approval process, the parameters for the restricted fly zone proposed by a user can be approved or rejected.

[0136] The platform may also collect additional information regarding the parameters of the restricted fly zones. The platform may collect information regarding the parameters of other restricted fly zones or other parameters of user-entered restricted fly zones. In some cases, the platform may collect information sequentially before or after receiving input from the user. In some cases, the platform may collect information simultaneously with receiving input from the user. The platform may aggregate information regarding the parameters of other restricted fly zones or other parameters of user-entered restricted fly zones along with the user-entered parameters. For example, the platform may search public records 1008 to obtain information associated with the restricted fly zones entered by User A, User B, or User C. For example, the platform may search public records to obtain the property boundaries of User A. For example, the platform may search public records to obtain information regarding public schools 1010 and 1012, and the parameters of the restricted fly zones (e.g., location, boundaries, etc.) for the public schools may be uploaded to the database. For example, the platform may search private records 1014 to obtain information regarding military bases 1016, and the parameters of the restricted fly zones (e.g., location, boundaries, etc.) for the military bases may be uploaded to the database. The restricted fly zones may be determined based on information gathered associated with restricted fly zones (eg, other restricted fly zones or restricted fly zones associated with those input by a user).

[0137] The platform may record or store parameters of restricted flight zones in a database (e.g., using one or more memory units). The database may or may not be preloaded with parameters for restricted flight zones. For example, the database may include the locations of all existing airports and restricted flight zones associated therewith. The database may also be updated using user input (e.g., parameters for restricted flight zones) or other parameters related to restricted flight zones or other restricted flight zones collected from external data sources. As described herein, the updates may occur in real time or at predetermined intervals.

[0138] The platform can visually display the restricted fly zones in the database (e.g., display them on a display unit). For example, a user terminal such as a mobile device or a computer can include a display unit. A user can use the visual display to view currently existing restricted fly zones. A user can use the visual display to suggest parameters for restricted fly zones. The visual display can include a user interface in which restricted fly zones can be generated and / or manipulated (e.g., by drawing, tracing, selecting restricted fly zones, etc.). An unmanned aerial vehicle operator can use the visual display to plan unmanned aerial vehicle operations.

[0139] The restricted fly zones (e.g., parameters associated with the restricted fly zones) contained in the database can be accessed or downloaded by UAVs 1018 and 1020. This information can be used to operate the UAVs. For example, UAV 1018 can implement appropriate flight response measures associated with the restricted fly zones. For example, UAV 1018 can avoid entering restricted zone 1007. For example, UAV 1018 can only enter the restricted fly zone associated with 1010 during after-school hours. The downloaded restricted fly zones can be displayed on a display unit as described herein. A three-dimensional restricted fly zone can be used to automatically generate a flight path that takes into account the three-dimensional boundaries of the restricted fly zone. For example, given a starting point A 1022 and a desired destination B 1024, one or more processors can automatically generate a flight path 1026 that does not encroach on the restricted fly zone displayed on the display map. UAV operators can use the platform to gain access to restricted fly zones. For example, a UAV operator can request access to a restricted fly zone and have the restriction lifted permanently or temporarily.

[0140] The systems, devices, and methods described herein can be applied to a variety of movable objects. As previously mentioned, any description herein of unmanned aerial vehicles can be applied to and used for any movable object. Any description herein of unmanned aerial vehicles can be applied to any aircraft. The movable objects of the present invention can be configured to move in any suitable environment, such as in the air (e.g., fixed-wing aircraft, rotary-wing aircraft, or aircraft with neither fixed wings nor rotary wings), in water (e.g., ships or submarines), on the ground (e.g., motor vehicles such as cars, trucks, buses, vans, motorcycles, bicycles; movable structures or frames such as sticks, fishing rods; or trains), underground (e.g., subways), in space (e.g., space shuttles, satellites, or probes), or any combination of these environments. The movable object can be a vehicle, such as the vehicles described elsewhere herein. In some embodiments, the movable object can be carried by a living being or removed from a living being such as a human or an animal. Suitable animals can include birds, dogs, cats, horses, cattle, sheep, pigs, dolphins, rodents, or insects.

[0141] The movable object may be able to move freely within the environment about six degrees of freedom (e.g., three translational degrees of freedom and three rotational degrees of freedom). Alternatively, the movement of the movable object may be constrained about one or more degrees of freedom, such as by a predetermined path, trajectory, or orientation. The movement may be actuated by any suitable actuating mechanism, such as an engine or motor. The actuating mechanism of the movable object may be powered by any suitable energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof. The movable object may be self-propelled via a power system, as described elsewhere herein. The power system may optionally operate on an energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof. Alternatively, the movable object may be carried by a living being.

[0142] In some cases, the movable object can be a vehicle. Suitable vehicles can include water vehicles, aircraft, space vehicles or ground vehicles. For example, aircraft can be fixed-wing aircraft (for example, airplane, glider), rotorcraft (for example, helicopter, gyroplane), the aircraft with fixed-wing and rotor simultaneously or the aircraft without fixed-wing and rotor (for example, airship, hot air balloon). Vehicle can be self-propelled, such as in the air, on water or in water, in space or on the ground or underground self-propelled. Self-propelled vehicles can utilize power systems, such as including one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles or the power systems of any suitable combination thereof. In some cases, power systems can be used to enable movable objects to take off from a surface, land on the surface, keep its current position and / or towards (for example, hovering), change towards and / or change position.

[0143] The movable object may be remotely controlled by a user or locally controlled by a passenger within or on the movable object. In some embodiments, the movable object is an unmanned movable object, such as an unmanned aerial vehicle. An unmanned movable object (such as an unmanned aerial vehicle) may not have passengers aboard the movable object. The movable object may be controlled by a human or an autonomous control system (e.g., a computer control system), or any suitable combination thereof. The movable object may be an autonomous or semi-autonomous robot, such as a robot equipped with artificial intelligence.

[0144] The movable object may have any suitable size and / or dimensions. In some embodiments, the movable object may have a size and / or dimensions that can accommodate a human occupant in or on the vehicle. Alternatively, the movable object may have a size and / or dimensions that is smaller than a size and / or dimensions that can accommodate a human occupant in or on the vehicle. The movable object may have a size and / or dimensions that is suitable for being carried or carried by a human. Alternatively, the movable object may be larger than a size and / or dimensions that is suitable for being carried or carried by a human. In some cases, the movable object may have a maximum dimension (e.g., length, width, height, diameter, diagonal) that is less than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. The maximum dimension may be greater than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance between the axes of the opposing rotors of the movable object can be less than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Alternatively, the distance between the axes of the opposing rotors can be greater than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.

[0145] In some embodiments, the movable object may have a volume of less than 100 cm x 100 cm x 100 cm, less than 50 cm x 50 cm x 30 cm, or less than 5 cm x 5 cm x 3 cm. The total volume of the movable object may be less than or equal to approximately: 1 cm 3 , 2cm 3 , 5cm 3 , 10cm 3 , 20cm 3 , 30cm 3 , 40cm 3 , 50cm 3 、60cm 3 , 70cm 3 , 80cm 3 , 90cm 3 , 100cm 3 , 150cm 3 , 200cm 3 , 300cm 3 , 500cm 3 , 750cm 3 , 1000cm 3 , 5000cm 3 , 10,000cm 3 , 100,000cm 3 , 1m 3 or 10m 3 Conversely, the total volume of the movable object may be greater than or equal to approximately: 1 cm 3 , 2cm 3 , 5cm 3 , 10cm 3 , 20cm 3 , 30cm 3 , 40cm 3 , 50cm 3 、60cm 3 , 70cm 3 , 80cm 3 , 90cm 3 , 100cm 3 , 150cm 3 , 200cm 3 , 300cm 3 , 500cm 3 , 750cm 3 , 1000cm 3 , 5000cm 3 , 10,000cm 3 , 100,000cm 3 , 1m 3 or 10m3 .

[0146] In some embodiments, a movable object may have a footprint (which may refer to the cross-sectional area enclosed by the movable object) that is less than or equal to approximately: 32,000 cm 2 20,000cm 2 , 10,000cm 2 1,000cm 2 , 500cm 2 , 100cm 2 , 50cm 2 , 10cm 2 or 5cm 2 Conversely, the footprint may be greater than or equal to approximately: 32,000 cm 2 20,000cm 2 , 10,000cm 2 1,000cm 2 , 500cm 2 , 100cm 2 , 50cm 2 , 10cm 2 or 5cm 2 .

[0147] In some cases, the movable object may weigh no more than 1000 kg. The movable object may weigh less than or equal to approximately: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg. Conversely, the weight may be greater than or equal to approximately: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg.

[0148] In some embodiments, the movable object can be small relative to the load carried by the movable object. As further described in detail elsewhere herein, the load can include a load and / or a carrier. In some examples, the ratio of the weight of the movable object to the weight of the load can be greater than, less than, or equal to approximately 1:1. In some cases, the ratio of the weight of the movable object to the weight of the load can be greater than, less than, or equal to approximately 1:1. Alternatively, the ratio of the weight of the carrier to the weight of the load can be greater than, less than, or equal to approximately 1:1. When desired, the ratio of the weight of the movable object to the weight of the load can be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratio of the weight of the movable object to the weight of the load can also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.

[0149] In some embodiments, the movable object can have low energy consumption. For example, the movable object can use less than about: 5W / h, 4W / h, 3W / h, 2W / h, 1W / h, or less. In some cases, the carrier of the movable object can have low energy consumption. For example, the carrier can use less than about: 5W / h, 4W / h, 3W / h, 2W / h, 1W / h, or less. Alternatively, the payload of the movable object can have low energy consumption, such as less than about: 5W / h, 4W / h, 3W / h, 2W / h, 1W / h, or less.

[0150] Figure 11 An unmanned aerial vehicle (UAV) according to an embodiment of the present invention is shown.

[0151] 1100. The unmanned aerial vehicle can be an example of a movable object as described herein. The unmanned aerial vehicle 1100 can include a power system having four rotors 1102, 1104, 1106, and 1108. Any number of rotors can be provided (e.g., one, two, three, four, five, six, or more). The rotors, rotor assembly, or other power system of the unmanned aerial vehicle can enable the unmanned aerial vehicle to hover / maintain position, change orientation, and / or change position. The distance between the axes of the opposing rotors can be any suitable length 1110. For example, the length 1110 can be less than or equal to 1 meter, or less than or equal to 5 meters. In some embodiments, the length 1110 can be in a range from 1 cm to 7 meters, from 70 cm to 2 meters, or from 5 cm to 5 meters. Any description herein of an unmanned aerial vehicle can apply to a movable object, such as a different type of movable object, and vice versa. The unmanned aerial vehicle can use a takeoff assist system or the method described herein.

[0152] In some embodiments, the movable object can be configured to carry a load. The load can include one or more of passengers, cargo, equipment, instruments, etc. The load can be provided in a housing. The housing can be separate from the housing of the movable object, or part of the housing of the movable object. Alternatively, the load can have a housing and the movable object does not have a housing. Alternatively, some parts of the load or the entire load can be provided without a housing. The load can be rigidly fixed relative to the movable object. Alternatively, the load can be movable relative to the movable object (for example, can translate or rotate relative to the movable object). The load can include a load and / or a carrier, as described elsewhere herein.

[0153] In some embodiments, the movement of the movable object, carrier, and load relative to a fixed reference frame (e.g., the surrounding environment) and / or relative to each other can be controlled by a terminal. The terminal can be a remote control device at a location away from the movable object, carrier, and / or load. The terminal can be placed on a support platform or fixed to a support platform. Alternatively, the terminal can be a handheld or wearable device. For example, the terminal can include a smart phone, a tablet computer, a laptop computer, a computer, glasses, gloves, a helmet, a microphone, or a suitable combination thereof. The terminal can include a user interface such as a keyboard, a mouse, a joystick, a touch screen, or a display. Any suitable user input can be used to interact with the terminal, such as manually inputting instructions, voice control, gesture control, or position control (e.g., via movement, position, or tilt of the terminal).

[0154] The terminal can be used to control any suitable state of the movable object, carrier, and / or payload. For example, the terminal can be used to control the position and / or orientation of the movable object, carrier, and / or payload relative to a fixed reference and / or relative to each other. In some embodiments, the terminal can be used to control individual elements of the movable object, carrier, and / or payload, such as an actuation assembly of the carrier, a sensor of the payload, or an emitter of the payload. The terminal can include a wireless communication device suitable for communicating with one or more of the movable object, carrier, or payload.

[0155] The terminal may include a suitable display unit for viewing information about the movable object, carrier, and / or payload. For example, the terminal may be configured to display information about the movable object, carrier, and / or payload, including information about position, translational velocity, translational acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. In some embodiments, the terminal may display information provided by the payload, such as data provided by a functional payload (e.g., images recorded by a camera or other image capture device).

[0156] Optionally, the same terminal can simultaneously control the movable object, carrier, and / or payload, or the state of the movable object, carrier, and / or payload, and receive and / or display information from the movable object, carrier, and / or payload. For example, a terminal can control the positioning of a payload relative to its environment while simultaneously displaying image data captured by the payload, or information regarding the payload's location. Alternatively, different terminals can be used for different functions. For example, a first terminal can control the movement or state of a movable object, carrier, and / or payload, while a second terminal can receive and / or display information from the movable object, carrier, and / or payload. For example, a first terminal can be used to control the positioning of a payload relative to its environment, while a second terminal can display image data captured by the payload. Various communication modes can be utilized between a movable object and an integrated terminal that simultaneously controls the movable object and receives data, or between a movable object and multiple terminals that simultaneously control the movable object and receive data. For example, at least two different communication modes can be established between a movable object and a terminal that simultaneously controls the movable object and receives data from the movable object.

[0157] Figure 12 12. The diagram illustrates a movable object 1200 including a carrier 1202 and a payload 1204, according to an embodiment. Although movable object 1200 is depicted as an aircraft, such depiction is not intended to be limiting, and as previously described, any suitable type of movable object may be used. Those skilled in the art will appreciate that any embodiment described herein in the context of an aircraft system may be applied to any suitable movable object (e.g., an unmanned aerial vehicle). In some cases, payload 1204 may be provided on movable object 1200 without carrier 1202. Movable object 1200 may include a power mechanism 1206, a sensing system 1208, and a communication system 1212.

[0158] As previously described, the power mechanism 1206 may include one or more of a rotor, a propeller, a blade, an engine, a motor, a wheel, an axle, a magnet, or a nozzle. The movable object may have one or more, two or more, three or more, or four or more power mechanisms. The power mechanisms may all be of the same type. Alternatively, one or more power mechanisms may be different types of power mechanisms. The power mechanism 1206 may be mounted on the movable object 1200 using any suitable device, such as a support element (e.g., a drive shaft) as described elsewhere herein. The power mechanism 1206 may be mounted on any suitable portion of the movable object 1200, such as the top, bottom, front, back, side, or a suitable combination thereof.

[0159] In some embodiments, the power mechanism 1206 can enable the movable object 1200 to take off vertically from a surface or land vertically on a surface without requiring any horizontal movement of the movable object 1200 (e.g., without traveling along a runway). Optionally, the power mechanism 1206 can be operable to allow the movable object 1200 to hover in the air at a specified position and / or orientation. One or more power mechanisms 1200 can be controlled independently of the other power mechanisms. Alternatively, the power mechanisms 1200 can be configured to be controlled simultaneously. For example, the movable object 1200 can have multiple horizontally oriented rotors that can provide lift and / or thrust to the movable object. The multiple horizontally oriented rotors can be actuated to provide the movable object 1200 with vertical takeoff, vertical landing, and hovering capabilities. In some embodiments, one or more of the horizontally oriented rotors can rotate in a clockwise direction, while one or more of the horizontal rotors can rotate in a counterclockwise direction. For example, the number of clockwise rotors can be equal to the number of counterclockwise rotors. The rotation rate of each horizontally oriented rotor can be independently varied to control the lift and / or thrust generated by each rotor and thereby adjust the spatial alignment, velocity and / or acceleration of movable object 1200 (e.g., with respect to up to three translational degrees of freedom and up to three rotational degrees of freedom).

[0160] The sensing system 1208 may include one or more sensors that can sense the spatial alignment, velocity, and / or acceleration of the movable object 1200 (e.g., with respect to up to three translational degrees of freedom and up to three rotational degrees of freedom). The one or more sensors may include a global positioning system (GPS) sensor, a motion sensor, an inertial sensor, a distance sensor, or an image sensor. The sensory data provided by the sensing system 1208 can be used to control the spatial alignment, velocity, and / or orientation of the movable object 1200 (e.g., using a suitable processing unit and / or control module, as described below). Alternatively, the sensing system 1208 can be used to provide data about the environment surrounding the movable object, such as weather conditions, distance to potential obstacles, location of geographic features, location of man-made structures, etc.

[0161] Communication system 1210 supports communication with a terminal 1212 having a communication system 1214 via wireless signals 1216. Communication systems 1210 and 1214 may include any number of transmitters, receivers, and / or transceivers suitable for wireless communication. The communication may be unidirectional, such that data can only be transmitted in one direction. For example, unidirectional communication may involve only the transmission of data from movable object 1200 to terminal 1212, or vice versa. Data may be transmitted from one or more transmitters of communication system 1210 to one or more receivers of communication system 1212, or vice versa. Alternatively, the communication may be bidirectional, such that data can be transmitted in both directions between movable object 1200 and terminal 1212. Bidirectional communication may involve the transmission of data from one or more transmitters of communication system 1210 to one or more receivers of communication system 1214, or vice versa.

[0162] In some embodiments, the terminal 1212 can provide control data to one or more of the movable object 1200, the carrier 1202, and the payload 1204, and receive information from one or more of the movable object 1200, the carrier 1202, and the payload 1204 (e.g., position and / or motion information of the movable object, the carrier, or the payload; data sensed by the payload, such as image data captured by a payload camera). In some cases, the control data from the terminal can include instructions for the relative position, movement, actuation, or control of the movable object, the carrier, and / or the payload. For example, the control data can result in a modification of the position and / or orientation of the movable object (e.g., via control of the power mechanism 1206), or movement of the payload relative to the movable object (e.g., via control of the carrier 1202). The control data from the terminal can result in control of the payload, such as control of the operation of a camera or other image capture device (e.g., taking still or moving pictures, zooming in or out, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing viewing angle or field of view). In some cases, communications from the movable object, carrier, and / or payload may include information from one or more sensors (e.g., sensors of sensing system 1208 or payload 1204). The communications may include sensed information from one or more different types of sensors (e.g., GPS sensors, motion sensors, inertial sensors, distance sensors, or image sensors). Such information may relate to the position (e.g., location, orientation), movement, or acceleration of the movable object, carrier, and / or payload. Such information from the payload may include data captured by the payload or a sensed state of the payload. The control data provided and transmitted by terminal 1212 may be configured to control the state of one or more of movable object 1200, carrier 1202, or payload 1204. Alternatively, or in combination, carrier 1202 and payload 1204 may each include a communication module configured to communicate with terminal 1212, so that the terminal can independently communicate with and control each of movable object 1200, carrier 1202, and payload 1204.

[0163] In some embodiments, the movable object 1200 can be configured to communicate with another remote device—in addition to or in place of the terminal 1212. The terminal 1212 can also be configured to communicate with another remote device as well as the movable object 1200. For example, the movable object 1200 and / or the terminal 1212 can communicate with another movable object or a carrier or payload of another movable object. If desired, the remote device can be a second terminal or other computing device (e.g., a computer, laptop, tablet, smartphone, or other mobile device). The remote device can be configured to transmit data to the movable object 1200, receive data from the movable object 1200, transmit data to the terminal 1212, and / or receive data from the terminal 1212. Optionally, the remote device can be connected to the Internet or other telecommunications network so that data received from the movable object 1200 and / or the terminal 1212 can be uploaded to a website or server.

[0164] Figure 13 FIG2 is a block diagram illustrating a system 1300 for controlling a movable object, according to an embodiment. The system 1300 can be used in conjunction with any suitable embodiment of the systems, devices, and methods disclosed herein. The system 1300 may include a sensing module 1302, a processing unit 1304, a non-transitory computer-readable medium 1306, a control module 1308, and a communication module 1310.

[0165] The sensing module 1302 can utilize different types of sensors that collect information related to the movable object in different ways. Different types of sensors can sense different types of signals or signals from different sources. For example, the sensors may include inertial sensors, GPS sensors, distance sensors (e.g., lidar), or visual / image sensors (e.g., cameras). The sensing module 1302 can be operably coupled to a processing unit 1304 having multiple processors. In some embodiments, the sensing module can be operably coupled to a transmission module 1312 (e.g., a Wi-Fi image transmission module) that is configured to transmit the sensing data directly to a suitable external device or system. For example, the transmission module 1312 can be used to transmit an image captured by a camera of the sensing module 1302 to a remote terminal.

[0166] The processing unit 1304 may have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU)). The processing unit 1304 may be operably coupled to a non-transitory computer-readable medium 1306. The non-transitory computer-readable medium 1306 may store logic, code, and / or program instructions that can be executed by the processing unit 1304 to perform one or more steps. The non-transitory computer-readable medium may include one or more memory units (e.g., removable media or external storage, such as an SD card or random access memory (RAM)). In some embodiments, data from the sensing module 1302 may be directly transmitted to and stored in the memory units of the non-transitory computer-readable medium 1306. The memory units of the non-transitory computer-readable medium 1306 may store logic, code, and / or program instructions that can be executed by the processing unit 1304 to perform any suitable embodiment of the method described herein. For example, the processing unit 1304 may be configured to execute instructions so that one or more processors of the processing unit 1304 analyze the sensed data generated by the sensing module. The memory unit can store sensing data from the sensing module to be processed by the processing unit 1304. In some embodiments, the memory unit of the non-transitory computer-readable medium 1306 can be used to store processing results generated by the processing unit 1304.

[0167] In some embodiments, the processing unit 1304 can be operably coupled to a control module 1308, which is configured to control the state of the movable object. For example, the control module 1308 can be configured to control the movable object's propulsion mechanism to adjust the movable object's spatial alignment, velocity, and / or acceleration with respect to six degrees of freedom. Alternatively, or in combination, the control module 1308 can control one or more of the states of the carrier, payload, or sensing module.

[0168] The processing unit 1304 can be operably coupled to a communication module 1310, which is configured to transmit and / or receive data from one or more external devices (e.g., a terminal, display device, or other remote controller). Any suitable communication means can be used, such as wired communication or wireless communication. For example, the communication module 1310 can utilize one or more of a local area network (LAN), a wide area network (WAN), infrared, radio, WiFi, a peer-to-peer (P2P) network, a telecommunications network, cloud communication, etc. Alternatively, a relay station such as a tower, satellite, or mobile station can be used. Wireless communication can be distance-dependent or distance-independent. In some embodiments, communication may or may not require line of sight. The communication module 1310 can transmit and / or receive one or more of the sensing data from the sensing module 1302, the processing results generated by the processing unit 1304, predetermined control data, user commands from a terminal or remote controller, etc.

[0169] The components of system 1300 may be arranged in any suitable configuration. For example, one or more components of system 1300 may be located on a movable object, a carrier, a payload, a terminal, a sensing system, or an additional external device that communicates with one or more of the above. Figure 13 A single processing unit 1304 and a single non-transitory computer-readable medium 1306 are depicted, but those skilled in the art will appreciate that this is not intended to be limiting, and that the system 1300 may include multiple processing units and / or non-transitory computer-readable media. In some embodiments, one or more of the multiple processing units and / or non-transitory computer-readable media may be located at different locations, such as on a movable object, a carrier, a payload, a terminal, a sensing module, an additional external device in communication with one or more of the foregoing, or a suitable combination thereof, such that any suitable aspect of the processing and / or storage functions performed by the system 1300 may occur at one or more of the foregoing locations.

[0170] Although preferred embodiments of the present invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will now appreciate that many modifications, variations, and substitutions can occur without departing from the present invention. It should be understood that various alternatives to the embodiments of the present invention described herein may be employed in practicing the present invention. The following claims are intended to define the scope of the present invention and are therefore intended to cover methods and structures within the scope of these claims and their equivalents.

Claims

1. A method for designating a restricted flight zone, the method comprising: receiving input from a user via a user input device, the input specifying one or more parameters of the restricted fly zone, wherein the one or more parameters include a location of the restricted fly zone, and the three-dimensional space of the restricted fly zone is generated based on the corresponding location of the restricted fly zone; as well as Verifying, with one or more processors, whether the user is authorized to designate the location as a restricted fly zone, wherein verifying whether the user is authorized includes confirming whether the user exercises control over the restricted fly zone.

2. A system for designating a restricted flight zone, the system comprising: One or more processors, individually or collectively configured to: receiving input from a user via a user input device, the input specifying one or more parameters of the restricted fly zone, wherein the one or more parameters include a location of the restricted fly zone, and the three-dimensional space of the restricted fly zone is generated based on the corresponding location of the restricted fly zone; as well as Verifying whether the user is authorized to designate the location as a restricted fly zone, wherein verifying whether the user is authorized includes confirming whether the user exercises control over the restricted fly zone.

3. The method of claim 1 , further comprising determining a three-dimensional space for the restricted fly zone if the user is verified as authorized to designate the location as a restricted fly zone, wherein the three-dimensional space depends on the parameters of the restricted fly zone.

4. The system of claim 2 , wherein the one or more processors are further configured to: if the user is verified as authorized to designate the location as a no-fly zone, determine a three-dimensional space for the no-fly zone, wherein the three-dimensional space depends on the parameters of the no-fly zone.

5. The method according to claim 1 or the system according to claim 2, wherein the position of the restricted flight zone is the global coordinates of the restricted flight zone; or The location of the restricted flight area is the street address of the restricted flight area.

6. The method of claim 1 or the system of claim 2, wherein the restricted fly zone is a private residence.

7. The method or system according to claim 6, wherein when the user is the owner of the private residence, the user is authorized to designate the private residence as a no-fly zone; or Wherein, when the user is a resident of the private residence, the user is authorized to designate the private residence as a restricted flying area.

8. The method according to claim 1 or the system according to claim 2, wherein the restricted flight area is a commercial area; or The restricted flight area is an airport, military base or public sensitive area; or The restricted flight area is the boundary line of the jurisdiction area.

9. The method of claim 1, wherein verifying whether the user is authorized comprises authenticating the identity of the user.

10. The system of claim 2, wherein the one or more processors are configured to authenticate the identity of the user.

11. A method according to claim 9 or a system according to claim 10, wherein the identity of the user is authenticated using a password, phrase or code entered by the user; or wherein biometric input from the user is used to authenticate the identity of the user; or A unique object owned by the user is used to authenticate the identity of the user.

12. The method according to claim 1 or the system according to claim 2, wherein when the user is the owner of the restricted flight zone, it is determined that the user exercises control over the restricted flight zone; or wherein when the user is a tenant or resident of the restricted flight area, determining that the user exercises control over the restricted flight area; or When the control entity conveys authorization to the user, it is determined that the user exercises control over the restricted flight area.

13. The method of claim 1 , wherein verifying whether the user is authorized comprises at least one of: receiving an electronic transmission from a third party indicating that the user is authorized to verify whether the user is authorized; verifying whether the user owns or resides at the location through a file uploaded by the user; verifying whether the user is authorized through authorization granted by proof entered by the user; and / or verifying whether the user is authorized through user identity; or The method further includes storing the location of the restricted fly zone in one or more memory units when the user is verified as authorized to designate the location as a restricted fly zone.

14. The system of claim 2, wherein the one or more processors verifying whether the user is authorized comprises at least one of: receiving an electronic transmission from a third party indicating that the user is authorized to verify that the location is designated as a restricted fly zone; verifying that the user owns or resides at the location through a file uploaded by the user; verifying that the user is authorized through authorization granted by proof entered by the user; and / or verifying that the user is authorized through user identity; or The system further includes one or more memory units that are individually or collectively configured to store the location of the restricted fly zone when the user is verified as being authorized to designate the location as a restricted fly zone.

15. A non-transitory computer-readable medium containing program instructions for designating a restricted flight zone, the computer-readable medium comprising program instructions that, when executed, perform the method for designating a restricted flight zone according to any one of claims 1, 3, 5-9, 11, 12, and 13.

16. A method for collecting information about a restricted flight area, the method comprising: receiving input from a user via a user input device, the input specifying a location of the restricted flight zone, the three-dimensional space of the restricted flight zone being generated based on the location of the restricted flight zone, the user being authorized to designate the location as the restricted flight zone, the user being authorized including confirming that the user exercises control over the restricted flight zone; as well as Searching one or more external data sources, with the one or more processors, to obtain information associated with the restricted flight zone or other restricted flight zones, the information including one or more of: ownership of the restricted flight zone, identity of a user, classification or type of the restricted flight zone, or type of appropriate flight response action.

17. A system for collecting information about a restricted flight area, the system comprising: One or more processors, individually or collectively configured to: receiving input from a user via a user input device, the input specifying a location of the restricted flight zone, the three-dimensional space of the restricted flight zone being generated based on the location of the restricted flight zone, the user being authorized to designate the location as the restricted flight zone, the user being authorized including confirming that the user exercises control over the restricted flight zone; as well as Searching one or more external data sources to obtain information associated with the restricted flight zone or other restricted flight zones, the information including one or more of: ownership of the restricted flight zone, identity of a user, classification or type of the restricted flight zone, or type of appropriate flight response action.

18. The method of claim 16 or the system of claim 17, wherein the one or more external data sources include a government data source; or wherein the one or more external data sources include a source listing airport information; or wherein the one or more external data sources are publicly accessible via the Internet; or wherein the one or more external data sources are privately accessible when access is granted; or wherein the position of the restricted flight area is the global coordinates of the restricted flight area; or wherein the location of the restricted flight area is a street address of the restricted flight area; or The restricted area is a private residence; or The restricted flight area is a commercial area.

19. The method of claim 16 or the system of claim 17, wherein the information about the one or more other restricted fly zones includes the locations of the one or more other restricted fly zones.

20. The method or system of claim 19, wherein one or more of the other restricted flight areas include airports, military bases, or public sensitive areas; or One or more of the other restricted flight areas include a jurisdictional boundary.

21. The method of claim 16, further comprising storing the location of the restricted fly zone and information associated with the restricted fly zone or one or more other restricted fly zones in one or more memory units.

22. The system of claim 17, further comprising one or more memory units configured, individually or collectively, to store the location of the restricted fly zone and information associated with the restricted fly zone or other restricted fly zones.

23. A non-transitory computer-readable medium containing program instructions for collecting information about a restricted flight zone, the computer-readable medium comprising program instructions for performing the method for collecting information about a restricted flight zone according to claim 16 and any one of claims 18 to 21 when the program instructions are executed.

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