WO2018059296A1 - 飞行器控制方法、光流模块及飞行器 - Google Patents

飞行器控制方法、光流模块及飞行器 Download PDF

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Publication number
WO2018059296A1
WO2018059296A1 PCT/CN2017/102599 CN2017102599W WO2018059296A1 WO 2018059296 A1 WO2018059296 A1 WO 2018059296A1 CN 2017102599 W CN2017102599 W CN 2017102599W WO 2018059296 A1 WO2018059296 A1 WO 2018059296A1
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aircraft
displacement
ground
height difference
time data
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PCT/CN2017/102599
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English (en)
French (fr)
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胡华智
陈尚辉
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亿航智能设备（广州）有限公司
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Publication of WO2018059296A1 publication Critical patent/WO2018059296A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

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  • the present invention relates to the field of aircraft control technology, and in particular, to an aircraft control method, an optical flow module, and an aircraft.
  • the optical flow module generally includes an ultrasonic ranging module for accurately measuring the height of the aircraft and the ground.
  • the ultrasonic module has the disadvantage of large volume, and the ultrasonic distance measurement by the ultrasonic module is the average distance to the sound source within a certain range, and the local distance measurement cannot be performed, and the measurement accuracy is low.
  • An aircraft control method includes the following steps:
  • the time at which the optical signal is emitted is synchronized with the time at which the ground texture information is collected.
  • the aircraft control method calculates a height difference between the illuminated ground and the aircraft according to the first time data of the emitted light signal and the second time data of the received reflected light signal, and collects several times according to the preset time interval.
  • Texture information of the grounded surface generating a two-dimensional feature image including the texture information and the height difference, and calculating a displacement of the aircraft according to a position change amount of a certain point on the ground in each two-dimensional feature image, and
  • the displacement and height difference are sent to the flight control system to control the aircraft to fly back to the preset hover position, which can accurately locate the actual distance between the illuminated object and the aircraft, thereby accurately controlling the aircraft hovering and improving the measurement accuracy without
  • the use of a large volume of ultrasound modules reduces the size of the ranging system.
  • An optical flow module comprising:
  • a light source for emitting an optical signal to the ground
  • the TOF camera is associated with the light source, for acquiring texture information of the illuminated ground, recording first time data and second time data, and calculating according to the first time data and the second time data Illuminating the height difference between the ground and the optical flow module, collecting texture information of the illuminated ground several times according to a preset time interval, and transmitting the texture information to the MCU; wherein the first time data is a time when the light source emits the light signal to the ground, and the second time data is a time when the TOF camera receives the reflected light signal of the ground signal to the light signal;
  • An MCU the MCU is connected to the light source, the TOF camera, and the flight control system of the aircraft, for receiving the height difference and texture information, and generating a two-dimensional feature image according to each acquired texture information and the height difference, Calculating the displacement of the aircraft according to the position change amount of the preset point on the ground in each two-dimensional feature image, and transmitting the displacement and the two-dimensional feature image to the flight control system; wherein the flight control system is according to the Displacement and height difference determine whether the aircraft deviates from a preset hovering position, and if so, controls the aircraft to fly back to the hovering position;
  • the time at which the optical signal is emitted is synchronized with the time at which the ground texture information is collected.
  • An aircraft comprising:
  • a fuselage a fuselage; a propeller mounted on the fuselage; a driving device; an optical flow module; and a flight control system coupled to the optical flow module;
  • the optical flow module is disposed on a bottom surface of the fuselage for acquiring a height difference between the ground and the aircraft Dislocating the aircraft and transmitting the height difference and displacement to a flight control system of the aircraft;
  • the flight control system is configured to receive the height difference and the displacement, determine whether the aircraft deviates from the preset hovering position according to the displacement and the height difference, and if so, generate control information for controlling the movement of the aircraft, and send the control information To the driving device;
  • the driving device is connected to the flight control system and the propeller for receiving the control information and driving the propeller to control the aircraft to fly back to a preset hovering position.
  • the optical flow module and the aircraft adopt the TOF camera, the light source and the MCU instead of the ultrasonic module for distance measurement, reduce the size of the optical flow module, and can accurately locate the actual distance between the illuminated object and the aircraft, thereby improving the measurement accuracy.
  • 1 is a flow chart of an aircraft control method of an embodiment
  • FIG. 2 is a flow chart of an aircraft control method of an embodiment
  • FIG. 3 is a schematic structural diagram of an optical flow module of an embodiment
  • FIG. 4 is a schematic structural view of an aircraft of one embodiment.
  • the present invention provides an aircraft control method, which may include the following steps:
  • an optical signal can be emitted to the ground through a light source.
  • the light source can be vertically emitted to the ground to emit an optical signal, and the TOF camera receives a reflected signal from the ground to the optical signal.
  • the light source can also be illuminated at an angle to the ground.
  • the light source may be an infrared surface light source.
  • the use of an infrared surface source allows the ranging process to be performed in the dark.
  • the reflected light signal can be received by a TOF camera. If the infrared surface light source is used in step S1, an infrared TOF camera can be used correspondingly in this step.
  • the texture information 1 acquired in T1 seconds may generate a two-dimensional feature image 1 including the texture information 1 and the height difference 1; the texture information 2 acquired in T2 seconds may generate the texture information 2 and the height difference 2
  • the two-dimensional feature image 2 assumes that the corresponding coordinate of the point A on the ground in the two-dimensional feature image 1 is (x1, y1), and the coordinate of the point A on the ground in the two-dimensional feature image 2 is (x2, y2). Then, the displacement of the aircraft can be calculated from the distance between (x1, y1) and (x2, y2).
  • the point on the ground may be a pre-designated point.
  • the flight path of the aircraft can also be obtained, which can return the aircraft to the original road or directly return to the take-off point.
  • the position recorded by the height difference 1 in the two-position feature image 1 is the position where the aircraft T1 seconds are located, and by superimposing the continuously captured two-dimensional feature image, the flight path of the aircraft can be obtained, which is equivalent to The flight path recorded by the aircraft on the map in the case of GPS.
  • the working method of the ranging of the invention is that the infrared surface light source emits light pulses to illuminate the ground, the infrared TOF camera collects the texture information of the reflected light and the illuminated ground, and records the first time data of the emitted light signal and receives the reflected light signal.
  • the second time data calculates a height difference between the illuminated ground and the aircraft based on the first time data and the second time data, and generates a two-dimensional feature image including the height difference and texture information.
  • the displacement of the aircraft may be calculated according to the two-dimensional feature image, and the displacement information and the two-dimensional feature image are transmitted to a flight control system.
  • the flight control system can calculate the displacement vector of the aircraft according to the displacement (if the displacement, the corrected displacement can be obtained, and the displacement vector is calculated according to the height difference and the corrected displacement), and the motion of the aircraft is obtained according to the superposition of the displacement vectors.
  • Direction and speed Then, the light pulse is emitted again, and the above process is repeated to realize real-time distance detection.
  • the above process is alternated, so that the ground texture information and the ground height information can be obtained, and data fusion is performed to realize optical flow hovering and route calibration.
  • the captured image is not an image of the aircraft in a vertically downward direction, and the spurious displacement vector due to the posture can be corrected at this time.
  • the false displacement vector due to the attitude may be corrected according to the attitude information of the aircraft; and the corrected displacement vector is sent to the flight control system.
  • the flight control system can calculate the correct direction and speed of the aircraft based on the height difference and the corrected displacement vector combined with the camera lens parameters.
  • an angle between the emitted light signal and a vertical direction (for example, a vertical downward direction) may be acquired according to the posture information, and it is determined whether the angle is within a preset angle range, and if not, The displacement is corrected according to the included angle.
  • the corrected displacement information can be expressed by the following formula:
  • L' is the corrected displacement
  • L is the displacement before the correction
  • H is the height difference
  • ⁇ is the angle
  • FIG. 2 A flowchart of the aircraft control method is shown in FIG. 2.
  • FIG. 3 is a schematic structural diagram of an optical flow module 100 according to an embodiment. As shown in FIG. 3, the optical flow module 100 can include:
  • a light source 10 for emitting an optical signal to the ground
  • the TOF camera 20 is associated with the light source 10, for acquiring texture information of the illuminated ground, recording first time data and second time data, according to the first time data and the second time
  • the data calculates a height difference between the illuminated ground and the optical flow module 100, collects texture information of the illuminated ground several times according to a preset time interval, and sends the texture information to the MCU 30; wherein, the a time data is a time when the light source emits the light signal to the illuminated ground, and the second time data is a time when the TOF camera receives the reflected light signal of the ground signal to the light signal;
  • the MCU 30 is connected to the light source 10, the TOF camera 20, and the flight control system 50 of the aircraft 40, and configured to receive the height difference and texture information, respectively, according to the texture information collected and the height difference respectively.
  • a dimensional feature image calculating a displacement of the aircraft according to a position change amount of a certain point on the ground in each two-dimensional feature image, and transmitting the displacement and the two-bit feature image to the flight control system 50; wherein the flight control The system determines whether the aircraft deviates according to the displacement and the height difference A preset hovering position, if so, controlling the aircraft to fly back to the hovering position; wherein the time at which the optical signal is emitted is synchronized with the time at which the ground texture information is acquired.
  • the light source 10 can be vertically emitted to the ground to emit an optical signal, and the TOF camera 20 receives a reflected signal from the ground to the optical signal. In other embodiments, the light source 10 can also be illuminated at an angle to the ground.
  • the light source 10 can be an infrared surface light source.
  • the use of an infrared surface source allows the ranging process to be performed in the dark.
  • the TOF (Time Of Flight) camera may be an infrared TOF camera.
  • the infrared TOF camera may include an infrared TOF sensor coupled to the MCU 30 for receiving reflected light from the illuminated ground.
  • the combination of MCU, light source and TOF camera replaces the traditional ultrasonic module, which reduces the volume of the optical flow module 100.
  • the exposed part of the whole module can be flat or even hidden, and the effect can be similar to that of the mobile phone front camera. Leveling effect.
  • the working method of the ranging of the invention is that the infrared surface light source emits light pulses to illuminate the ground, the infrared TOF camera collects the texture information of the reflected light and the illuminated ground, and records the first time data of the emitted light signal and receives the reflected light signal.
  • the second time data calculates a height difference between the illuminated ground and the aircraft based on the first time data and the second time data, and generates a two-dimensional feature image including the height difference and texture information.
  • the displacement of the aircraft may be calculated according to the two-dimensional feature image, and the displacement information and the two-dimensional feature image are transmitted to a flight control system.
  • the flight control system can calculate the displacement vector of the aircraft according to the displacement (if the displacement, the corrected displacement can be obtained, and the displacement vector is calculated according to the height difference and the corrected displacement), and the motion of the aircraft is obtained according to the superposition of the displacement vectors.
  • Direction and speed Then, the light pulse is emitted again, and the above process is repeated to realize real-time distance detection.
  • the above process is alternated, so that the ground texture information and the ground height information can be obtained, and data fusion is performed to realize optical flow hovering and route calibration.
  • the optical flow module may further include a gyroscope 60.
  • the captured image is not an image of the aircraft in a vertically downward direction, and the gyroscope 60 may correct the posture due to the posture. False displacement vector.
  • the gyroscope 60 may correct the spurious displacement vector due to the attitude according to the attitude information of the aircraft; and transmit the corrected displacement vector to the flight control system.
  • the flight control system can calculate the aircraft based on the height difference and the corrected displacement vector, combined with the camera lens parameters. The correct direction and speed of movement.
  • an angle between the emitted light signal and a vertical direction may be acquired according to the posture information, and it is determined whether the angle is within a preset angle range, and if not, according to The included angle corrects the displacement.
  • the corrected displacement information can be expressed by the following formula:
  • L' is the corrected displacement
  • L is the displacement before the correction
  • H is the height information before the correction
  • ⁇ is the angle
  • the light source 10 can be coupled to a modulator or drive IC 70 that can modulate the light signal emitted by the source 10 and emit it.
  • an AD converter 80 may be integrated into the TOF camera 20, and the AD converter 80 may be connected to the MCU 30, and the output signal of the TOF camera 20 may be converted into a digital signal and transmitted to the MCU30 is convenient for MCU30 to process.
  • the present invention further provides an aircraft 40.
  • the aircraft may include:
  • a fuselage 201 a fuselage 201; a propeller 202 mounted on the fuselage 201; a driving device 203; an optical flow module 100, and a flight control system 50 connected to the optical flow module 100;
  • the optical flow module 100 is disposed on a bottom surface of the fuselage 201 for acquiring a height difference between the ground and the aircraft 40 and a displacement of the aircraft 40, and transmitting the height difference and displacement to the flight control of the aircraft 40.
  • the flight control system 50 is configured to receive the height difference and the two-position feature image, determine whether the aircraft deviates from a preset hovering position according to the displacement and the height difference, and if so, generate control information for controlling aircraft movement And transmitting the control information to the driving device 203;
  • the driving device 203 is connected to the flight control system 50 and the propeller 202 for receiving the control information and driving the propeller 202 to control the aircraft to fly back to a preset hovering position.
  • optical flow module in the aircraft is the same as the optical flow module described above, and details are not described herein again.
  • the size of the optical flow module is much smaller than that of the conventional optical flow module.
  • the optical flow module has a flatter appearance.

Abstract

一种飞行器（40）控制方法、光流模块（100）及飞行器（40），其中方法包括：向地面发射光信号，记录发射光信号的第一时间数据（S1）；接收被照射地面对光信号的反射光信号，记录接收到反射光信号的第二时间数据，并根据第一时间数据和第二时间数据计算被照射地面与飞行器（40）之间的高度差（S2）；根据预设的时间间隔连续若干次采集被照射地面的纹理信息，生成包含纹理信息和高度差的二维图像，根据地面上的某点在各个二维特征图像中的位置变化量计算飞行器（40）的位移（S3）；将位移和二维特征图像发送给飞控系统（50），由飞控系统（50）根据位移和高度差判断飞行器（40）是否偏离预设的悬停位置，若是，控制飞行器（40）飞回悬停位置（S4）。

Description

飞行器控制方法、光流模块及飞行器 技术领域
本发明涉及飞行器控制技术领域，特别是涉及一种飞行器控制方法、光流模块及飞行器。
背景技术
由于在室内没有GPS信号，无人机在室内要实现悬停，移动路线标定和返航，都需要借助光流模块进行。光流模块中一般包一个超声测距模块，用于精确测量飞机和地面的高度。
然而，超声模块具有体积较大的缺点，且通过超声模块进行超声测距得到的是一定范围内到声源的平均距离，无法做到局域距离测量，测量精确度较低。
发明内容
基于此，有必要针对超声模块体积较大、测量精确度较低的问题，提供一种飞行器控制方法、光流模块及飞行器。
一种飞行器控制方法，包括以下步骤：
向地面发射光信号，记录发射光信号的第一时间数据；
接收被照射地面对所述光信号的反射光信号，记录接收到所述反射光信号的第二时间数据，并根据所述第一时间数据和所述第二时间数据计算被照射地面与飞行器之间的高度差；
根据预设的时间间隔连续若干次采集被照射地面的纹理信息，生成包含所述纹理信息和所述高度差的二维特征图像，根据地面上的某点在各个二维特征图像中的位置变化量计算飞行器的位移；
将所述位移和所述二维特征图像发送至飞控系统，由飞控系统根据所述位移和高度差判断飞行器是否偏离预设的悬停位置，若是，控制所述飞行器飞回所述悬停位置；
其中，发射光信号的时间与采集地面纹理信息的时间同步。
上述飞行器控制方法，根据发射光信号的第一时间数据以及接收到所述反射光信号的第二时间数据，计算被照射地面与飞行器之间的高度差，根据预设的时间间隔连续若干次采集被照射地面的纹理信息，生成包含所述纹理信息和所述高度差的二维特征图像，根据地面上的某点在各个二维特征图像中的位置变化量计算飞行器的位移，并将所述位移和高度差发送给飞控系统，从而控制飞行器飞回预设的悬停位置，能够精确定位照射物体与飞行器之间的实际距离，从而精确控制飞行器悬停，提高了测量精确度，且无需采用大体积的超声模块，减小了测距系统的体积。
一种光流模块，包括：
光源，用于向地面发射光信号；
TOF摄像头，所述TOF摄像头与所述光源联动，用于获取被照射地面的纹理信息、记录第一时间数据和第二时间数据，根据所述第一时间数据和所述第二时间数据计算被照射地面与所述光流模块之间的高度差，根据预设的时间间隔连续若干次采集被照射地面的纹理信息，并将所述纹理信息发送至MCU；其中，所述第一时间数据为所述光源向被照射地面发射所述光信号的时间，所述第二时间数据为所述TOF摄像头接收到被照射地面对所述光信号的反射光信号的时间；
MCU，所述MCU与所述光源、TOF摄像头以及飞行器的飞控系统连接，用于接收所述高度差和纹理信息，分别根据各次采集的纹理信息和所述高度差生成二维特征图像，根据地面上的预设点在各个二维特征图像中的位置变化量计算飞行器的位移，将所述位移和所述二维特征图像发送给飞控系统；其中，所述飞控系统根据所述位移和高度差判断飞行器是否偏离预设的悬停位置，若是，控制飞行器飞回所述悬停位置；
其中，发射光信号的时间与采集地面纹理信息的时间同步。
一种飞行器，包括：
机身；安装在所述机身上的螺旋桨；驱动装置；光流模块；以及与所述光流模块相连接的飞控系统；
所述光流模块设置在所述机身底面，用于获取地面与飞行器之间的高度差 和所述飞行器的位移，并将所述高度差和位移发送至飞行器的飞控系统；
所述飞控系统用于接收所述高度差和位移，根据所述位移和高度差判断飞行器是否偏离预设的悬停位置，若是，生成控制飞行器移动的控制信息，并将所述控制信息发送至所述驱动装置；
所述驱动装置与所述飞控系统以及所述螺旋桨相连接，用于接收所述控制信息，并驱动所述螺旋桨，控制飞行器飞回预设的悬停位置。
上述光流模块和飞行器，采用TOF摄像头、光源和MCU代替超声模块进行测距，减小了光流模块的尺寸，并且能够精确定位照射物体与飞行器之间的实际距离，提高了测量精确度。
附图说明
图1为一个实施例的飞行器控制方法流程图；
图2为一个实施例的飞行器控制方法的流程图；
图3为一个实施例的光流模块的结构示意图；
图4为一个实施例的飞行器的结构示意图。
具体实施方式
下面结合附图对本发明的技术方案进行说明。
如图1所示，本发明提供一种飞行器控制方法，可包括以下步骤：
S1，向地面发射光信号，记录发射光信号的第一时间数据；
在本步骤中，可通过一个光源向地面发射光信号。在一个实施例中，可以将光源可竖直正对地面发射光信号，通过TOF摄像头接收地面对所述光信号的反射信号。在其他实施例中，也可以将光源以一定角度照射地面。
其中，所述光源可以是红外面光源。采用红外面光源可以使测距过程在黑暗情况下也能够进行。
S2，接收被照射地面对所述光信号的反射光信号，记录接收到所述反射光信号的第二时间数据，并根据所述第一时间数据和所述第二时间数据计算被照射地面与飞行器之间的高度差；
在本步骤中，可以采用TOF摄像头接收所述反射光信号。若步骤S1中采用的是红外面光源，在本步骤中可以相应地采用红外TOF摄像头。
S3，根据预设的时间间隔连续若干次采集被照射地面的纹理信息，生成包含所述纹理信息和所述高度差的二维特征图像，根据地面上的某点在各个二维特征图像中的位置变化量计算飞行器的位移；
例如，T1秒采集的纹理信息1，可生成包含纹理信息1与所述高度差1的二维特征图像1；T2秒采集的纹理信息2，可生成包含纹理信息2与所述高度差2的二维特征图像2，假设地面上的A点在二维特征图像1中对应的坐标为(x1，y1)，地面上的A点在二维特征图像2中对应的坐标为(x2，y2)，那么，根据(x1，y1)和(x2，y2)之间的距离可以计算飞行器的位移。所述地面某点可以是预先指定的一个点。
根据这些连续拍摄的二维特征图像，还可以得出飞行器的飞行轨迹，可以使飞行器原路返航，或者直接返航到起飞点上空。例如，所述高度差1在所述二位特征图像1中记录的位置为所述飞行器T1秒所在的位置，通过将连续拍摄的二位特征图像叠加，可以得出飞行器的飞行轨迹，相当于在GPS情况下飞行器在地图上记录的飞行轨迹。
S4，将所述位移和所述二维特征图像发送至飞控系统，由飞控系统根据所述位移和高度差判断飞行器是否偏离预设的悬停位置，若是，控制所述飞行器飞回所述悬停位置；其中，发射光信号的时间与采集地面纹理信息的时间同步。
本发明测距的工作方式是，红外面光源发射光脉冲照射地面，红外TOF摄像头搜集反射光和被照射地面的纹理信息，并记录发射光信号的第一时间数据和接收到所述反射光信号的第二时间数据，根据所述第一时间数据和第二时间数据计算被照射地面与飞行器之间的高度差，并生成包含所述高度差和纹理信息的二维特征图像。可根据所述二维特征图像计算出所述飞行器的位移，并所述位移信息和所述二维特征图像发送至飞控系统。飞控系统可以根据所述位移计算飞行器的位移矢量(如果位移，可以获取修正后的位移，并根据所述高度差和修正后的位移计算位移矢量)，根据各个位移矢量的叠加获取飞行器的运动方向与速度。然后再次发射光脉冲，重复上述的过程，实现实时的距离探测。 以上的过程交替进行，从而可以获得地面纹理的信息和离地高度信息，进行数据融合实现光流悬停和路线标定。
当飞行器处于非水平状态时，拍摄的图像并非飞行器竖直向下方向的图像，此时可修正由于姿态导致的虚假位移矢量。具体地，可根据飞行器的姿态信息，修正由于姿态导致的虚假位移矢量；并将修正后的位移矢量发送至飞控系统。飞控系统可根据高度差和修正后的位移矢量，结合摄像头透镜参数计算出飞行器正确的运动方向与速度。具体地，可以根据所述姿态信息获取所述发射光信号与竖直方向(例如，竖直向下方向)的夹角，并判断所述夹角是否处于预设的角度范围内，若否，根据所述夹角对所述位移进行修正。修正后的位移信息可以用如下公式来表示：
L'＝L-H sinθ；
式中，L'为修正后的位移，L为修正前的位移，H为高度差，θ为所述夹角。
所述飞行器控制方法的流程图如图2所示。
图3为一个实施例的光流模块100的结构示意图。如图3所示，所述光流模块100可包括：
光源10，用于向地面发射光信号；
TOF摄像头20，所述TOF摄像头20与所述光源10联动，用于获取被照射地面的纹理信息、记录第一时间数据和第二时间数据，根据所述第一时间数据和所述第二时间数据计算被照射地面与所述光流模块100之间的高度差，根据预设的时间间隔连续若干次采集被照射地面的纹理信息，并将所述纹理信息发送至MCU30；其中，所述第一时间数据为所述光源向被照射地面发射所述光信号的时间，所述第二时间数据为所述TOF摄像头接收到被照射地面对所述光信号的反射光信号的时间；
MCU30，所述MCU30与所述光源10、TOF摄像头20以及飞行器40的飞控系统50连接，用于接收所述高度差和纹理信息，分别根据各次采集的纹理信息和所述高度差生成二维特征图像，根据地面上的某点在各个二维特征图像中的位置变化量计算飞行器的位移，将所述位移和所述二位特征图像发送给飞控系统50；其中，所述飞控系统根据所述位移和所述高度差判断飞行器是否偏离 预设的悬停位置，若是，控制飞行器飞回所述悬停位置；其中，发射光信号的时间与采集地面纹理信息的时间同步。
在一个实施例中，可以将光源10可竖直正对地面发射光信号，通过TOF摄像头20接收地面对所述光信号的反射信号。在其他实施例中，也可以将光源10以一定角度照射地面。
其中，所述光源10可以是红外面光源。采用红外面光源可以使测距过程在黑暗情况下也能够进行。对应地，所述TOF(Time Of Flight)摄像头可以是红外TOF摄像头。所述红外TOF摄像头可以包括红外TOF传感器，所述红外TOF传感器与所述MCU30连接，用于接收被照射地面的反射光。采用MCU、光源和TOF摄像头的组合来替代传统的超声模块，减小了光流模块100的体积，整个模组外露的部分可以做到很平整甚至隐藏，其效果可以达到类似手机前置摄像头的平整效果。
本发明测距的工作方式是，红外面光源发射光脉冲照射地面，红外TOF摄像头搜集反射光和被照射地面的纹理信息，并记录发射光信号的第一时间数据和接收到所述反射光信号的第二时间数据，根据所述第一时间数据和第二时间数据计算被照射地面与飞行器之间的高度差，并生成包含所述高度差和纹理信息的二维特征图像。可根据所述二维特征图像计算出所述飞行器的位移，并所述位移信息和所述二维特征图像发送至飞控系统。飞控系统可以根据所述位移计算飞行器的位移矢量(如果位移，可以获取修正后的位移，并根据所述高度差和修正后的位移计算位移矢量)，根据各个位移矢量的叠加获取飞行器的运动方向与速度。然后再次发射光脉冲，重复上述的过程，实现实时的距离探测。以上的过程交替进行，从而可以获得地面纹理的信息和离地高度信息，进行数据融合实现光流悬停和路线标定。
在一个实施例中，所述光流模块还可包括陀螺仪60，当飞行器处于非水平状态时，拍摄的图像并非飞行器竖直向下方向的图像，此时陀螺仪60可修正由于姿态导致的虚假位移矢量。具体地，陀螺仪60可根据飞行器的姿态信息，修正由于姿态导致的虚假位移矢量；并将修正后的位移矢量发送至飞控系统。飞控系统可根据高度差和修正后的位移矢量，结合摄像头透镜参数计算出飞行器 正确的运动方向与速度。具体地，可以根据所述姿态信息获取所述发射光信号与竖直方向(例如，竖直向下方向)的夹角，判断所述夹角是否处于预设的角度范围内，若否，根据所述夹角对所述位移进行修正。修正后的位移信息可以用如下公式来表示：
L'＝L-H sinθ；
式中，L'为修正后的位移，L为修正前的位移，H为修正前的高度信息，θ为所述夹角。
在一个实施例中，所述光源10可以连接一个调制器或驱动IC70，所述调制器或驱动IC70可以对光源10发出的光信号进行调制后发射出去。
在一个实施例中，所述TOF摄像头20中还可集成一个AD转换器80，所述AD转换器80可与MCU30相连接，可以将TOF摄像头20的输出信号转换为数字信号并发射到所述MCU30，便于MCU30进行处理。
与上述光流模块100对应地，本发明还提供一种飞行器40，如图4所示，所述飞行器可包括：
机身201；安装在所述机身201上的螺旋桨202；驱动装置203；光流模块100，以及与所述光流模块100相连接的飞控系统50；
所述光流模块100设置在所述机身201底面，用于获取地面与飞行器40之间的高度差和所述飞行器40的位移，并将所述高度差和位移发送至飞行器40的飞控系统50；
所述飞控系统50用于接收所述高度差和所述二位特征图像，根据所述位移和所述高度差判断飞行器是否偏离预设的悬停位置，若是，生成控制飞行器移动的控制信息，并将所述控制信息发送至所述驱动装置203；
所述驱动装置203与所述飞控系统50以及所述螺旋桨202相连接，用于接收所述控制信息，并驱动所述螺旋桨202，控制飞行器飞回预设的悬停位置。
所述飞行器中光流模块的实施例与上述光流模块相同，此处不再赘述。
本发明具有以下优点：
(1)光流模块尺寸比传统光流模块的尺寸要小很多。
(2)光流模块外观更平整。
(3)黑暗的地方也可以进行光流的定位。
(4)可以更加精确地计算出所述飞行器与所述照射物体的距离。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种飞行器控制方法，其特征在于，包括以下步骤：
    向地面发射光信号，记录发射光信号的第一时间数据；
    接收被照射地面对所述光信号的反射光信号，记录接收到所述反射光信号的第二时间数据，并根据所述第一时间数据和所述第二时间数据计算被照射地面与飞行器之间的高度差；
    根据预设的时间间隔采集被照射地面的纹理信息，生成包含所述纹理信息和所述高度差的二维图像，根据地面上的某点在各个二维特征图像中的位置变化量计算飞行器的位移；
    将所述位移和所述二维特征图像发送至飞控系统，由飞控系统根据所述位移和所述高度差判断飞行器是否偏离预设的悬停位置，若是，控制所述飞行器飞回所述悬停位置；
    其中，发射光信号的时间与采集地面纹理信息的时间同步。
  2. 根据权利要求1所述的飞行器控制方法，其特征在于，在将所述位移信息发送给飞控系统之前，还包括以下步骤：
    采集所述飞行器的姿态信息；
    根据所述姿态信息修正所述位移。
  3. 根据权利要求2所述的飞行器控制方法，其特征在于，根据所述姿态信息修正所述位移的步骤包括：
    根据所述姿态信息获取所述发射光信号与竖直方向的夹角；
    判断所述夹角是否处于预设的角度范围内，若否，根据所述夹角对所述位移进行修正。
  4. 根据权利要求3所述的飞行器控制方法，其特征在于，根据所述夹角对所述位移进行修正的步骤包括：
    根据如下公式对所述位移进行修正：
    L'＝L-H sinθ；
    式中，L'为修正后的位移，L为修正前的位移，H为修正前的高度信息，θ为所述夹角。
  5. 一种光流模块，其特征在于，包括：
    光源，用于向地面发射光信号；
    TOF摄像头，所述TOF摄像头与所述光源联动，用于获取被照射地面的纹理信息、记录第一时间数据和第二时间数据，根据所述第一时间数据和所述第二时间数据计算被照射地面与所述光流模块之间的高度差，根据预设的时间间隔连续若干次采集被照射地面的纹理信息，并将所述纹理信息发送至MCU；其中，所述第一时间数据为所述光源向被照射地面发射所述光信号的时间，所述第二时间数据为所述TOF摄像头接收到被照射地面对所述光信号的反射光信号的时间；
    MCU，所述MCU与所述光源、TOF摄像头以及飞行器的飞控系统连接，用于接收所述高度差和纹理信息，分别根据各次采集的纹理信息和所述高度差生成二维特征图像，根据地面上的某点在各个二维特征图像中的位置变化量计算飞行器的位移，将所述位移和所述二维特征图像发送给飞控系统；其中，所述飞控系统根据所述位移和高度差判断飞行器是否偏离预设的悬停位置，若是，控制飞行器飞回所述悬停位置；
    其中，发射光信号的时间与采集地面纹理信息的时间同步。
  6. 根据权利要求5所述的光流模块，其特征在于，所述光源为红外面光源。
  7. 根据权利要求6所述的光流模块，其特征在于，所述TOF摄像头为红外TOF摄像头。
  8. 根据权利要求5所述的光流模块，其特征在于，还包括：
    与所述光源相连接的调制器。
  9. 根据权利要求1所述的光流模块，其特征在于，还包括：
    AD转换器，集成在所述TOF摄像头中，与所述MCU相连接。
  10. 一种飞行器，其特征在于，包括：
    机身；安装在所述机身上的螺旋桨；驱动装置；如权利要求5至9任意一项所述的光流模块；以及与所述光流模块相连接的飞控系统；
    所述光流模块设置在所述机身底面，用于获取地面与飞行器之间的高度差和所述飞行器的位移，并将所述高度差和位移发送至飞行器的飞控系统；
    所述飞控系统用于接收所述高度差和位移，根据所述位移和高度差判断飞 行器是否偏离预设的悬停位置，若是，生成控制飞行器移动的控制信息，并将所述控制信息发送至所述驱动装置；
    所述驱动装置与所述飞控系统以及所述螺旋桨相连接，用于接收所述控制信息，并驱动所述螺旋桨，控制飞行器飞回所述悬停位置。
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