Search International and National Patent Collections

1. (WO2018059296) AIRCRAFT CONTROL METHOD, OPTICAL FLOW MODULE AND AIRCRAFT

Pub. No.:    WO/2018/059296    International Application No.:    PCT/CN2017/102599
Publication Date: Fri Apr 06 01:59:59 CEST 2018 International Filing Date: Fri Sep 22 01:59:59 CEST 2017
IPC: G01S 17/06
Applicants: EHANG INTELLIGENT EQUIPMENT (GUANGZHOU) CO., LTD.
亿航智能设备(广州)有限公司
Inventors: HU, Huazhi
胡华智
CHEN, Shanghui
陈尚辉
Title: AIRCRAFT CONTROL METHOD, OPTICAL FLOW MODULE AND AIRCRAFT
Abstract:
An aircraft (40) control method, an optical flow module (100) and an aircraft (40), the method comprising: transmitting an optical signal to the ground, and recording a first time data of the transmission of the optical signal (S1); receiving a reflected light signal of the irradiated ground with respect to the optical signal, recording a second time data of the receiving of the reflected optical signal, and calculating the height difference between the irradiated ground and the aircraft (40) according to the first time data and the second time data (S2); collecting texture information of the irradiated ground in succession for several times at preset time intervals to generate a two-dimensional image containing the texture information and the height difference, and calculating the displacement of the aircraft (40) according to the position change amount of a certain point on the ground in various two-dimensional feature images (S3); sending the displacement and the two-dimensional feature image to a flight control system (50) such that the flight control system (50) determines whether the aircraft (40) deviates from a preset hover position according to the displacement and the height difference, and if so, controlling the aircraft (40) to fly back to the hover position (S4).