Back to results
US 2019/0094860 A1Published application
System and method for automated aerial system operation
AssigneeHangzhou Zero Zero Technology Co., Ltd.
InventorsZheng Qu, Pengxiang Jin, Tong Zhang
Life of this patent
Estimating the term…
Abstract
An aerial system, preferably including one or more proximity sensors, such as sensors arranged in opposing directions. A method for aerial system operation, preferably including: determining a set of sensors; sampling measurements at the set of sensors; localizing the aerial system based on the measurements, such as to determine one or more obstacle clearances; and controlling system flight, such as based on the clearances.
Claims20
A method for aircraft operation comprising, while operating an aircraft in a flight mode:
- during a first time interval, at a first downward sensor of the aircraft, sampling a first downward measurement indicative of a floor below the aircraft;
- during the first time interval, at a second downward sensor of the aircraft, sampling a second downward measurement indicative of the floor;
- based on the first and second downward measurements, determining a first ground clearance between the aircraft and the floor;
- during the first time interval, at an upward sensor of the aircraft, sampling a first upward measurement indicative of a ceiling above the aircraft;
- based on the first upward measurement, determining a first ceiling clearance between the aircraft and the ceiling;
- during a second time interval after the first time interval, at the upward sensor, sampling a second upward measurement indicative of the ceiling;
- based on the second upward measurement, determining a second ceiling clearance between the aircraft and the ceiling;
- based on the first and second ceiling clearances, determining a ceiling clearance change;
- based on the ceiling clearance change and the first ground clearance, determining a second ground clearance between the aircraft and the floor;
- and
- controlling flight of the aircraft based on the second ground clearance.
8 more elements
A method for aircraft operation comprising, while operating an aircraft in a flight mode between a first obstacle and a second obstacle:
- during a first time interval, at a first sensor of the aircraft, sampling a first measurement indicative of the first obstacle, wherein the first sensor is oriented in a first direction;
- based on the first measurement, determining a first obstacle clearance between the aircraft and the first obstacle;
- during the first time interval, at a second sensor of the aircraft, sampling a second measurement indicative of the second obstacle, wherein the second sensor is oriented in a second direction;
- during the first time interval, at a third sensor of the aircraft, sampling a third measurement indicative of the second obstacle;
- based on the second and third measurements, determining a second obstacle clearance between the aircraft and the second obstacle;
- during a second time interval after the first time interval, at the second sensor, sampling a fourth measurement indicative of the second obstacle;
- during the second time interval, at the third sensor, sampling a fifth measurement indicative of the second obstacle;
- based on the fourth and fifth measurements, determining an updated second obstacle clearance;
- based on the second obstacle clearance and the updated second obstacle clearance, determining a second obstacle clearance change;
- based on the second obstacle clearance change and the first obstacle clearance, determining an updated first obstacle clearance;
- and
- controlling flight of the aircraft based on the updated first obstacle clearance.
9 more elements
A method for aircraft operation comprising, while operating an aircraft in a flight mode between a first obstacle and a second obstacle:
- during a first time interval, at a first sensor of the aircraft, sampling a first measurement indicative of the first obstacle, wherein the first sensor is oriented in a first direction;
- based on the first measurement, determining a first obstacle clearance between the aircraft and the first obstacle;
- during the first time interval, at a second sensor of the aircraft, sampling a second measurement indicative of the second obstacle, wherein the second sensor is oriented in a second direction;
- during the first time interval, at a third sensor of the aircraft, sampling a third measurement indicative of the second obstacle;
- based on the second and third measurements, determining a second obstacle clearance between the aircraft and the second obstacle;
- during a second time interval after the first time interval, at the first sensor, sampling a fourth measurement indicative of the first obstacle;
- based on the fourth measurement, determining an updated first obstacle clearance;
- based on the first obstacle clearance and the updated first obstacle clearance, determining a first obstacle clearance change;
- based on the first obstacle clearance change and the second obstacle clearance, determining an updated second obstacle clearance;
- and
- controlling flight of the aircraft based on the updated second obstacle clearance.
8 more elements
Dependencies are inferred from the claim text.