Method for controlling a drone along a shaft

Abstract

The present invention relates to a method for controlling a drone (104) along a shaft (106), wherein the shaft (106) has at least one first shaft wall (118) and a second shaft wall (120) adjacent to the first shaft wall (118), and the drone (104) has sensors (108; 210, 212; 300, 302, 304) for detecting the surrounding environment and / or flight status of the drone (104), an actuator (102) for controlling the drone (104), and a control device (110) for manipulating the actuator (102). The method includes the following steps: receiving sensor data (112) generated by sensor devices (108; 210, 212; 300, 302, 304) in a control device (110); and determining the actual distance (l) of the UAV (104) relative to the first shaft wall (118) and the second shaft wall (120) by processing the sensor data (112). x l x2 l y ); and based on the actual distance (l x l y ) and rated distance (l' x 、l' y The deviation and the rated flight path (s') taken by the UAV (104) to reach the target position in the shaft (106) z This generates a control signal (128) for manipulating the actuator (102), causing the drone (104) to fly along the shaft (106). The actual flight path of the drone (104) is shown in the figure. z The control signal (128) is determined by processing sensor data (112) and based on the actual flight path (s). z ) and rated flight path (s' z The deviation is generated by processing sensor data (112) to identify the door area (204) and / or altitude marker (205) in the shaft (106), and the actual flight path is determined based on the door area (204) and / or altitude marker (205) identified by processing sensor data (112). z ).

Description

Technical Field

[0001] This invention relates to a method for controlling a drone along a vertical shaft. Furthermore, this invention relates to a control device, computer program, and computer-readable medium for implementing the method. Additionally, this invention relates to a drone control system having such a control device and an elevator system having at least one drone equipped with such a drone control system. Background Technology

[0002] Drones, such as quadcopters, can be equipped with satellite-based navigation systems capable of partially or fully automated control. However, satellite signal reception can be limited under certain conditions, such as when the drone is flying inside a building. Therefore, indoor drones, particularly suitable for use in buildings, can be equipped with image sensors to detect their surroundings. Typically, the environment in which such an indoor drone will fly is not known beforehand. Therefore, for navigation, a digital map can be generated from the images of the image sensors, for example. This usually requires relatively expensive image processing algorithms.

[0003] Drones can be used for camera-based inspections, such as in industrial plants or shafts. EP3489184A1 describes an example of a camera-equipped drone used for inspecting shafts. Here, the drone is mechanically guided as it flies along the shaft by a mechanically guided device extending vertically along the shaft.

[0004] 3P2017226259A and EP3739420A1 describe a method for controlling a drone along a shaft, in which the drone flies at a determinable distance from the shaft wall.

[0005] JP2017128440A describes a method for controlling a drone along an elevator shaft to inspect the shaft. Summary of the Invention

[0006] A method for controlling a drone along a shaft will be needed, which allows for partially or fully automatic control of the drone along the shaft without additional mechanical guidance and / or using relatively simple control electronics. This would significantly reduce the cost of providing such a drone. Furthermore, the simplified control electronics offer the advantage of greater robustness. Additionally, control equipment for implementing this method, computer program products and computer-readable media, a drone control system configured with such control equipment, and elevator equipment configured with such drone control system will be needed.

[0007] This need can be met by the subject matter of one of the independent claims. Advantageous embodiments are defined in the dependent claims and the following description.

[0008] A first aspect of the invention relates to a method for controlling a drone along a shaft. The shaft has at least one first shaft wall and a second shaft wall adjacent to the first shaft wall. The drone has sensors for detecting the drone's surrounding environment and / or flight status, actuators for controlling the drone, and a control device for manipulating the actuators. The method includes at least the following steps: receiving sensor data generated by the sensors in the control device; determining the actual distance of the drone relative to the first and second shaft walls by processing the sensor data; and generating a control signal to manipulate the actuators to cause the drone to fly along the shaft based on the deviation between the actual distance and a rated distance and a rated flight path taken by the drone to reach a target position within the shaft. The actual flight path of the drone is determined by processing the sensor data. Here, the control signal is generated based on the deviation between the actual flight path and the rated flight path.

[0009] According to the present invention, door areas and / or altitude markers in the shaft are identified by processing sensor data. Here, the actual flight path is determined based on the door areas and / or altitude markers identified by processing the sensor data.

[0010] For example, door zones and / or altitude markers can be identified by processing image data of the drone's surrounding environment generated by sensor devices. This implementation allows for reliable identification of the drone's actual flight altitude, even when ambient pressure fluctuates.

[0011] For example, this method can be executed automatically by the processor of the drone's control device.

[0012] The modules of the control device mentioned herein and below can be implemented as software and / or hardware.

[0013] A drone can be understood as an unmanned aircraft, such as a multi-rotor aircraft. However, other implementations of drones are also possible. Drones can be equipped with control software for partially or fully automatically controlling actuators based on sensor data. The control software can be stored in the memory of the control device and can be executed by the processor of the control device.

[0014] A shaft can be, for example, an elevator shaft, a ventilation shaft, or a cable shaft. The shaft can extend vertically, horizontally, and / or at an angle. Here, the arrangement or orientation of the sensor components matches the orientation of the shaft. The rated flight path can be understood as the length of the path traversed by the drone to the target location. The target location can be, for example, a turnaround point where the drone's direction of movement should reverse, so that, for example, the drone returns to its initial position. In the case of a vertical shaft, the rated flight path can be, for example, the maximum rated flight altitude that the drone should reach or a designated marker.

[0015] The first and second shaft walls can be understood as elongated sidewalls of the shaft, connected at their respective longitudinal edges. For example, the first and second shaft walls may be orthogonally oriented to each other. Furthermore, the shaft may have a bottom, a top, a third shaft wall, and / or a fourth shaft wall. It is feasible that at least one of these passage walls has one or more openings, such as ventilation openings, door openings, or other access openings.

[0016] The sensor may include at least one ambient environment sensor, such as a camera, lidar sensor, ultrasonic sensor, or radar sensor, and / or at least one flight dynamic sensor, such as an accelerometer or rotational speed sensor, for example, a sensor in the form of an inertial measurement unit. Furthermore, the sensor may include a barometric pressure sensor for altitude measurement. Even if not essential for implementing the method according to the invention, the sensor may additionally include a positioning sensor for determining the UAV's geographical location using a global navigation satellite system (e.g., GPS, GLONASS, etc.).

[0017] Flight dynamics data generated by flight dynamics sensors can be used as input data for, for example, stability adjustment to stabilize the drone's flight state. Distance- or flight path-based control of the drone can be overridden by stability adjustment.

[0018] For example, the sensor used to determine the actual distance can include a 2D distance sensor in the form of a lidar sensor. A lidar sensor, for example, can have laser optics that can rotate 360 ​​degrees to scan the environment surrounding the drone. Here, the plane of rotation of the laser optics can be perpendicular to or tilted to the wall orientation of the first and / or second shaft walls. The advantage of the tilted orientation is that, in addition to the actual distance relative to the first and second shaft walls, the actual distance relative to the bottom and / or top of the shaft can be determined from sensor data, thus eliminating the need for multiple sensors.

[0019] Alternatively, the sensor used to determine the actual distance can include multiple 1D distance sensors, such as ultrasonic sensors or lidar sensors. However, it can also be a combination of a 2D distance sensor and one or more 1D distance sensors.

[0020] For example, a rated distance can be selected considering a given width and / or depth of the shaft. Similarly, a rated flight path can be selected considering a given height or length of the shaft. It is feasible for the rated distance or rated flight path to be input by the drone user into the drone's control software via a corresponding user interface. However, the rated distance or rated flight path can also be automatically adjusted, for example, based on the drone's geographical location. The rated flight path can also be represented by markings in the shaft, specifically, the markings could be the target location or turnaround point. These markings can be identified by sensors, for example, optically.

[0021] For example, the rated distance or rated flight path can be determined based on geometric data (such as its width, depth, and / or length) of a given geometry defining the shaft.

[0022] Geometric data can be received, for example, from an external data storage device used to store different geometric data about different shafts within the control device. The external data storage device can be, for example, a central server, PC, laptop computer, smartphone, tablet computer, or other mobile terminal device. Here, the geometric data can be provided to the control device via a wired or wireless data connection, such as via WLAN, Bluetooth, or a mobile radio connection. Alternatively, different geometric data can also be stored in the control device's memory.

[0023] It should be noted that to control a drone along a shaft, it is not necessarily necessary to determine the drone's actual flight path, such as its actual flight altitude. For example, adherence to the rated flight path can be ensured by controlling the drone along the shaft according to a pre-defined speed curve associated with the rated flight path. For instance, the control device can store different pre-defined speed curves for different rated flight paths. Alternatively, the speed curve can be calculated based on the rated flight path using appropriate mathematical functions. It is also feasible for the drone to be remotely controlled by a human operator who adjusts the drone's flight altitude, speed, and / or orientation and automatically adjusts only the distance to the shaft wall. Furthermore, collisions with the bottom and top of the shaft can be automatically prevented. This can be referred to as semi-automatic operation.

[0024] The actuation device can be configured to change the position and / or orientation of the UAV in three-dimensional space. For this purpose, the actuation device may include one or more rotors and one or more drive motors for driving the one or more rotors. Furthermore, the actuation device may include one or more servo motors to, for example, change the orientation of the rotors. The rotors may, for example, be arranged in the same plane of rotation. However, other drive configurations are also possible.

[0025] The actual flight path can be determined as the actual flight altitude based, for example, on the actual distance of the drone relative to the bottom and / or top of the shaft. However, the actual flight altitude can also be determined by sensor data from the drone's barometric pressure sensor. This implementation also reliably prevents the drone from exceeding the target position while flying along the shaft.

[0026] In short, the proposed scheme enables drone control along shafts with minimal hardware and / or software overhead by detecting and assessing only the distances between the drone and two adjacent shaft walls, given the drone's target location. Therefore, the cost of creating a digital map of the drone's surroundings during flight can be eliminated or accomplished by the onboard measurement system. Compared to commonly used indoor drones, which typically employ extensive sensors and correspondingly expensive control electronics, the simplified drone in this way can be significantly less expensive.

[0027] A second aspect of the invention relates to a control device having a processor configured to perform a method according to an embodiment of the first aspect of the invention. As described above, the control device may include hardware and / or software modules. In addition to the processor, the control device may include a memory and a data communication interface for data communication with peripheral devices. Features of the method according to an embodiment of the first aspect of the invention may also be features of the control device, and vice versa.

[0028] A third aspect of the present invention relates to a drone control system for an actuator for controlling a drone. The drone control system includes sensors for detecting the drone's surrounding environment and / or flight status, and control equipment according to an embodiment of the second aspect of the present invention. Features of the method according to an embodiment of the first aspect of the present invention can also be features of the drone control system, and vice versa.

[0029] A fourth aspect of the invention relates to an elevator device, such as a freight elevator or a passenger elevator. The elevator device includes at least one elevator shaft having at least one first shaft wall and a second shaft wall adjacent to the first shaft wall, and at least one drone to be controlled along the elevator shaft, the drone being equipped with an actuation device for controlling the drone and a drone control system for manipulating the drone according to an embodiment of the third aspect of the invention. The shaft can be measured and / or inspected, for example, by means of one or more drones, particularly before the installation of components of the elevator device, such as guide rails or elevator cars in the elevator shaft. Furthermore, the drone can be configured to transport loads through the elevator shaft, for example, automatically picking up and / or lowering loads within the elevator shaft.

[0030] A fifth aspect of the invention relates to a computer program. The computer program includes instructions that, when executed by a processor, cause the processor to perform a method according to an embodiment of the first aspect of the invention.

[0031] A sixth aspect of the invention relates to a computer-readable medium having a computer program stored thereon according to an embodiment of the fifth aspect of the invention. The computer-readable medium may be a volatile or non-volatile memory. For example, the computer-readable medium may be a hard disk, a USB storage device, RAM, ROM, EPROM, or flash memory. The computer-readable medium may also be a data communication network capable of downloading program code, such as the Internet or a cloud.

[0032] The features of the method according to the first aspect of the present invention may also be features of a computer program and / or a computer-readable medium, and the features of a computer program and / or a computer-readable medium may also be features of the method according to the first aspect of the present invention.

[0033] The feasible features and advantages of embodiments of the present invention can be considered based on the concepts and findings described below, including but not limited to the present invention.

[0034] According to one embodiment, the actual distance includes a first actual distance of the UAV relative to the first shaft wall in a first spatial direction and a second actual distance of the UAV relative to the second shaft wall in a second spatial direction orthogonal to the first spatial direction. Here, a control signal is generated based on the deviation between the first actual distance and the first rated distance, and the deviation between the second actual distance and the second rated distance.

[0035] The first spatial direction may correspond, for example, to the width direction of the shaft. The second spatial direction may correspond, for example, to the depth direction of the shaft. Here, control signals can be generated to control the UAV in the height or longitudinal direction of the shaft. The first and second actual distances can be detected, for example, by a 1D distance sensor in the form of an ultrasonic sensor. As further mentioned above, a 2D distance sensor in the form of a lidar sensor can also be used to detect the first and second actual distances. The control signals can be generated in such a way that the deviation between the actual distance and the nominal distance is as small as possible and / or the actual distance is as constant as possible. The first and second nominal distances can be the same or different. With this implementation, it is possible to avoid the UAV from colliding with the shaft wall while flying along the shaft by a simple means. For example, the first and second nominal distances can be selected so that the UAV flies as centrally as possible in the shaft. However, the first and second nominal distances can also be arbitrarily chosen differently. It is also possible to change the nominal distance during the flight of the UAV. This can be done, for example, based on the flight altitude, the identification of markings in the shaft, or manually by a human operator.

[0036] According to one embodiment, the actual distance includes an additional first actual distance of the UAV relative to the first shaft wall in a first spatial direction. Here, the first actual distance and the additional first actual distance correspond to different locations on the first shaft wall. The actual orientation of the UAV is determined based on the first actual distance and the additional first actual distance. Here, a control signal is also generated based on the deviation between the actual orientation and the nominal orientation. For example, to detect the first actual distance and the additional first actual distance, the UAV may have two 1D distance sensors arranged side by side at a defined distance. With this embodiment, the actual orientation of the UAV, such as its yaw angle, can be determined very simply by calculating the difference between the first actual distance and the additional first actual distance. The determination of the actual orientation of the UAV described herein can be similarly determined from measurement data from 2D sensors.

[0037] According to one embodiment, a third actual distance of the drone relative to the top of the shaft is also determined by processing sensor data. Here, a control signal is generated based on the deviation between the third actual distance and a third nominal distance. The nominal flight path can be defined, for example, by the third nominal distance. The detection of the third actual distance can be achieved, for example, using a 1D distance sensor or a 2D distance sensor that can be tilted towards the top. Therefore, it is possible to ensure that the drone does not exceed the target position by a simple means. The third nominal distance can be selected to prevent the drone from colliding with the top or the drone from approaching the top too closely. Therefore, damage to the drone while flying along the shaft can be avoided.

[0038] According to one embodiment, a fourth actual distance of the UAV relative to the bottom of the shaft is also determined by processing sensor data. Here, a control signal is generated based on the deviation between the fourth actual distance and a fourth nominal distance. The nominal flight path can be defined, for example, by the fourth nominal distance. The detection of the fourth actual distance can be achieved, for example, using a 1D distance sensor or a 2D distance sensor that can be tilted and oriented towards the bottom. Therefore, it is possible to ensure that the UAV does not exceed the target position by a simple means. This also ensures that the UAV lands reliably on the bottom of the shaft.

[0039] The drone can be positioned at a starting position, for example, at the bottom of a shaft. For instance, the drone can be centered between the first and second shaft walls at the starting position, or positioned at the bottom of the shaft offset from the center between the first and second shaft walls. For example, a control signal can be generated to cause the drone at the starting position to rise from the bottom of the shaft, fly to the target position, fly back to the bottom of the shaft, and finally land on the bottom of the shaft. Using the described positioning of the drone at the bottom of the shaft, the rated distance from the shaft walls and the rated orientation of the drone can be determined or derived.

[0040] According to one embodiment, the method further includes the step of generating measurement data from sensor data, including the measured width, depth, and / or length of the shaft. For this purpose, the sensor data can be filtered and / or transformed in a suitable manner by a control device. The measurement data may, for example, include the coordinates of multiple measurement points reflecting the geometry of the shaft in a three-dimensional coordinate system. Therefore, this embodiment enables automated measurement of the shaft.

[0041] According to one embodiment, the method further includes the step of transmitting sensor data and / or data generated from the sensor data from a control device to an external data processing device. The sensor data transmitted by the control device may, for example, include image data of a shaft. The data generated from the sensor data may, for example, be data produced by filtering and / or transforming the sensor data, such as measurement data. Transmission may, for example, occur during the flight operation of a UAV. Therefore, external evaluation of the sensor data and / or data generated from the sensor data is possible. This has the advantage that the hardware or software of the control device can be kept very simple. For example, the external data processing device can be configured to generate geometric data (see above) from the sensor data and / or data generated from the sensor data.

[0042] According to one embodiment, the sensor components include ultrasonic sensors and / or laser sensors for detecting the drone's surrounding environment. Additionally or alternatively, the sensor components may include accelerometer sensors for detecting the drone's flight status. Accelerometer sensors may, for example, include inertial measurement units or gyroscope sensors. For example, eliminating the drone's camera and satellite-based positioning can significantly reduce the drone's manufacturing cost. Attached Figure Description

[0043] Embodiments of the present invention are described below with reference to the accompanying drawings, which should not be construed as limiting the present invention.

[0044] Figure 1 A drone with a drone control system according to an embodiment of the present invention is schematically shown in a shaft.

[0045] Figure 2 An enlarged view schematically illustrates a drone control system according to an embodiment of the present invention.

[0046] Figure 3 An elevator device according to an embodiment of the present invention is illustrated schematically.

[0047] Figure 4 Show Figure 3 A cross-sectional view of the elevator shaft.

[0048] The accompanying drawings are schematic only and are not drawn to scale. The same reference numerals denote the same or equivalent features in different drawings. Detailed Implementation

[0049] Figure 1 and Figure 2 A drone control system 100 is shown for controlling the actuator 102 of a drone 104, which is, for example, a quadcopter, and whose actuator 102 includes four separately operable propeller units. The drone 104 is located in a shaft 106, such as an elevator shaft, ventilation shaft, or cable shaft. The drone control system 100 is configured to control the actuator 102 such that the drone 104 flies along the shaft 106, i.e., in the longitudinal direction of the shaft 106.

[0050] To this end, the unmanned aerial vehicle (UAV) control system 100 includes a sensor 108 for detecting the surrounding environment and / or flight status of the UAV 104, and a control device 110 for manipulating the actuator 102 based on sensor data 112 generated by the sensor 108 when detecting the surrounding environment and / or flight status of the UAV 104.

[0051] The modules of control device 110 described below can be stored in memory 114 of control device 110 as corresponding computer programs and implemented by executing the computer programs by processor 116 of control device 110 (see below). Figure 1 However, modules can also be implemented as hardware.

[0052] In this example, shaft 106 includes two sidewalls in the form of a first shaft wall 118 and a second shaft wall 120, which are abutted against each other at their longitudinal edges. The first shaft wall 118 and the second shaft wall 120 are exemplarily oriented perpendicularly to each other. It is possible that shaft 106 includes additional sidewalls, a bottom, and / or a top (see also...). Figure 3 and Figure 4 ).

[0053] In order to control the drone 104 along the shaft 106, sensor data 112 is input to the control device 110 (see...). Figure 2 The distance determination module 122 is configured to determine the actual distance of the UAV 104 relative to the first shaft wall 118 and the second shaft wall 120 based on sensor data 112. In this example, the distance determination module 122 determines the actual distance in a three-dimensional x, y, z coordinate system 124. Here, a first actual distance l relative to the first shaft wall 118 is determined in the x-axis direction of coordinate system 124. x And determine the second actual distance l relative to the second shaft wall 120 in the y-axis direction of coordinate system 124. y .

[0054] Subsequently, the actual distance l x l y The control signal is input to the control signal generation module 126 of the control device 110, which is configured to generate the control signal based on the actual distance l. x l y , corresponding to the actual distance l x l y The rated distance l' x 、l' y And the rated flight path s' that the UAV 104 will take when flying along the shaft 106 (i.e., in the z-direction) to reach the target position. z This generates a control signal 128 for manipulating the actuator 102. The control signal 128 causes the actuator 102 to control the drone 104, such that, taking into account the rated flight path s' z and rated distance l' x 、l' y In this case, it travels along the z-direction within the shaft 106. For this purpose, the control signal generation module 126 determines the first actual distance l.x With the first rated distance l' x The deviation and the second actual distance l y With the second rated distance l' y The deviation is calculated, and control signals 128 are generated based on these deviations.

[0055] Additionally, the distance determination module 122 can be configured to determine, by processing sensor data 112, the distance relative to the top 206 of the shaft 106 in the z-axis direction of coordinate system 124 (see [link to original text]). Figure 3 The third actual distance l z1 And / or relative to the bottom 208 of shaft 106 (see...) Figure 3 and Figure 4 The fourth actual distance l z2 Therefore, the control signal generation module 126 can be configured to additionally base its signal on a third actual distance l. z1 and / or the fourth actual distance l z2 For example, based on the third actual distance l z1 The third rated distance l' z1 Deviation and / or fourth actual distance l z2 The fourth rated distance l' z2 The deviation is used to generate control signal 128.

[0056] For example, it is also feasible to determine the actual flight path of the UAV 104 by processing sensor data 112 in the distance determination module 122. z This refers to the path traversed by the UAV 104 in the z-direction or the current altitude of the UAV 104 within the shaft 106. In this case, the control signal generation module 126 can be configured to additionally base the actual flight path s on the path s. z More specifically, based on the actual flight path. z With the rated flight path s' z The deviation generates control signal 128.

[0057] Additionally, the control device 110 may include a measurement module 130 for converting sensor data 112 into measurement data 132, for example, by filtering and / or transforming the sensor data 112 accordingly. The measurement data 132 may display the measured geometry of the shaft 106 in coordinate system 124, such as its width, depth, and / or length or height.

[0058] Alternatively, sensor data 112 and / or data generated by sensor data 112, such as measurement data 132, can be transmitted via communication module 134 of control device 110 to external data processing device 136 for external storage and / or further processing, exemplarily via a wireless data communication connection, such as WLAN, Bluetooth, mobile radio, etc. External data processing device 136 can be, for example, a server, PC, laptop computer, smartphone, tablet computer, etc.

[0059] Alternatively or additionally, the communication module 134 can receive data from an external data processing device 136. This could, for example, be for a rated distance of l' x 、l' y 、l' z1 and / or l' z2 and / or rated flight routes z The numerical value, or geometric data about shaft 106, can be generated from the geometric data.

[0060] Figure 3 Components of elevator equipment 200 are shown. In this example, shaft 106 is the vertical elevator shaft 106 of elevator equipment 200. Here, the third shaft wall 202 of elevator shaft 106, opposite the second shaft wall 120, has a plurality of door areas 204, each with a door opening, through which the elevator shaft 106 can be accessed from the outside, for example from different floors of a building. For example, distance determination module 122 can be configured to determine the actual flight path s by identifying the door areas 204 in sensor data 112. z The actual flight path here corresponds to the actual flight altitude of the drone 104. Additionally, the top 206 and bottom 208 of the elevator shaft 106 are shown.

[0061] Altitude marker 205 may be arranged in or on the elevator shaft 106, indicating a defined position or height within the elevator shaft 106. Here, for example, a so-called meter crack may be involved. For example, distance determination module 122 may be configured to determine the actual flight path by identifying altitude marker 205 in sensor data 112. z The actual flight path here corresponds to the actual flight altitude of UAV 104.

[0062] The elevator equipment 200 also includes a drone 104 or even multiple drones equipped with a drone control system 100 and an actuator 102. For example, the drone 104 can move up and down along the shaft 106 to inspect the interior of the shaft 106 and / or perform automated measurements of the shaft 106, as already mentioned above.

[0063] In addition, Figure 3 Two exemplary configurations of sensor 108 for detecting the surrounding environment of drone 104 are shown.

[0064] The first of the two configurations includes a lidar sensor 210 as a 2D distance sensor. In this example, the lidar sensor 210 is configured to detect distances in one or more inclined planes. An "inclined plane" is understood herein as a plane that intersects all three planes of coordinate system 124. For example, the lidar sensor 210 can be positioned on the drone 104 such that it is diagonally oriented relative to the vertical, and here relative to the z-axis, during the flight of the drone 104. The detection angle of the lidar sensor 210 can be, for example, between 90 and 360 degrees. Therefore, distances relative to shaft walls 118, 120, 202, relative to the top 206, and relative to the bottom 208 can be detected simultaneously.

[0065] In addition to the lidar sensor 210, one of the two configurations further includes an ultrasonic sensor 212 as a 2D distance sensor, which has two 1D distance sensors pointing in opposite directions for detecting distances to the top 206 or the bottom 208. In this configuration, the lidar sensor 210 is configured to detect distances in one or more planes parallel to the x and y planes.

[0066] Another feasible configuration of the ultrasonic sensor 212 is in Figure 4 As shown in the figure. In this example, the ultrasonic sensor 212 includes features for detecting a first actual distance l. x The first 1D distance sensor 300 is used to detect an additional first actual distance l in the x-direction relative to the first shaft wall 118. x2 The second 1D distance sensor 302 and the method for detecting the second actual distance l y The third 1D distance sensor 304. (As in...) Figure 4 As can be seen, the first actual distance l x and the additional first actual distance l x2 This corresponds to different locations on the first shaft wall 118. Therefore, the control signal generation module 126 can be configured to generate a signal based on a first actual distance l. x and the additional first actual distance l x2 To determine the actual orientation of the UAV 104 (e.g., yaw angle relative to the z-axis), and to generate a control signal 128 based on the deviation between the actual orientation and the corresponding nominal orientation.

[0067] To control the drone 104 in the elevator shaft 106, the control device 110 may include, for example, a leveling device for adjusting the distance of the drone 104 to the two shaft walls 118, 120, and a leveling device for adjusting the distance of the drone 104 to the two shaft walls 118, 120, taking into account the rated flight path s' z The speed regulator adjusts the vertical speed of the drone 104 under certain conditions. Here, the vertical speed can initially be kept constant, and then reduced before reaching the target position, that is, before reaching the end point of the shaft 106.

[0068] Vertical velocity can be defined, for example, as a fixed feed. The actual velocity of the UAV 104 can be determined, for example, by integrating the acceleration value of the accelerometer, by differentiating the altitude value of the altitude sensor, for example, in the form of a barometric altimeter, or incrementally by evaluating the camera images contained in the sensor data 112.

[0069] The following is an example of the flight control process for the UAV 104.

[0070] 1. Position and orient the drone 104 on the bottom 208.

[0071] 2. Reset or initialize the level adjuster.

[0072] 3. Make the drone 104 fly upward along the elevator shaft 106 at a constant vertical speed, that is, fly towards the top 206.

[0073] 4. The top 206 is detected by sensor 108. Therefore, the vertical speed is reduced until the drone 104 comes to a stop in the air. Then, the drone 104 is steered back towards the bottom 208.

[0074] 5. The bottom 208 is detected by sensor 108. Therefore, the vertical speed is reduced, or at least reduced to the extent that the drone 104 comes to a stop in the air, causing the drone 104 to move very slowly toward the bottom 208. Subsequently, the drone 104 gently descends onto the bottom 208.

[0075] Alternatively or additionally, stereo cameras, depth cameras, tracking sensors, and / or time-of-flight sensors can be used to measure distances.

[0076] It is feasible to determine the position of the drone 104 in the shaft 106 based on visual range estimation, with the assistance of an inertial measurement unit if necessary. Then, the positional change of the drone 104 relative to a reference position (e.g., its initial position on the bottom 208) can be calculated by tracking features identified in the sensor data 112 (e.g., door area 204 or a specific height marker 205 in the elevator shaft 106) over time or based on optical flow.

[0077] The drone 104 can be used as a combination for (automatic) control of the drone 104. Figure 1 , Figure 2 , Figure 3 and Figure 4 The method described is supplemented or alternatively remotely controlled by a human operator. Here, the human operator adjusts the flight altitude, speed, and / or the drone's orientation and automatically adjusts the distance to the shaft wall. Additionally, collisions with the bottom and top of the shaft can be automatically prevented. This can be referred to as semi-automatic operation.

[0078] Finally, it should be noted that terms such as "having" or "comprising" do not exclude other elements or steps, and terms such as "an" or "a" do not exclude multiple. Furthermore, it should be noted that the features or steps described with reference to one of the above embodiments can also be used in combination with other features or steps of other above embodiments. Reference numerals in the claims should not be considered limiting.

Claims

1. A method for controlling a drone (104) along a shaft (106), wherein, The shaft (106) has at least one first shaft wall (118) and a second shaft wall (120) adjacent to the first shaft wall (118), wherein, The unmanned aerial vehicle (104) has sensors (108, 210, 212, 300, 302, 304) for detecting the surrounding environment and / or flight status of the unmanned aerial vehicle (104), an actuator (102) for controlling the unmanned aerial vehicle (104), and a control device (110) for controlling the actuator (102), wherein the method includes: The control device (110) receives sensor data (112) generated by the sensor devices (108, 210, 212, 300, 302, 304). The actual distance l of the UAV (104) relative to the first shaft wall (118) and the second shaft wall (120) is determined by processing sensor data (112). x l x2 l y The actual distance l x l x2 l y Including the first actual distance l of the UAV (104) relative to the first shaft wall (118) along the first spatial direction x. x The additional first actual distance l of the UAV (104) relative to the first shaft wall (118) along the first spatial direction x x2 The second actual distance l between the UAV (104) and the second shaft wall (120) along a second spatial direction y orthogonal to the first spatial direction x. y ;and Based on the first actual distance l x With the first rated distance l' x The deviation and the second actual distance l y With the second rated distance l' y The deviation and the rated flight path s' that the UAV (104) must take to reach the target position in the shaft (106). z This generates a control signal (128) for manipulating the actuator (102), causing the drone (104) to fly along the shaft (106). Among them, the actual flight path s of the UAV (104) is determined by processing sensor data (112). z And based on the actual flight path s z With the rated flight path s' z The deviation generates a control signal (128). Its features are, The gate area (204) in the shaft (106) is identified by processing sensor data (112), and the actual flight path is determined based on the gate area (204) identified by processing sensor data (112). z .

2. The method according to claim 1, in, The first actual distance l x and the additional first actual distance l x2 Corresponding to different parts of the first shaft wall (118); Based on the first actual distance l x and the additional first actual distance l x2 Determine the actual orientation of the drone (104); Control signals are also generated based on the deviation between the actual orientation and the desired orientation (128).

3. The method according to claim 1 or 2, in, The third actual distance l of the UAV (104) relative to the top (206) of the shaft (106) is also determined by processing sensor data (112). z1 ; Also based on the third actual distance l z1 The third rated distance l' z1 The deviation generates the control signal (128).

4. The method according to claim 1 or 2, in, The fourth actual distance l of the UAV (104) relative to the bottom (208) of the shaft (106) is also determined by processing sensor data (112). z2 ; Among them, it is also based on the fourth actual distance l z2 The fourth rated distance l' z2 The deviation generates the control signal (128).

5. The method according to claim 1 or 2, further comprising: Measurement data (132) is generated from the sensor data (112), the measurement data (132) including the measured width, depth and / or length of the shaft (106).

6. The method according to claim 1 or 2, further comprising: The sensor data (112) and / or the measurement data (132) generated from the sensor data (112) are sent from the control device (110) to the external data processing device (136).

7. A control device (110) comprising a processor (116) configured to implement the method according to any one of the preceding claims.

8. A drone control system (100) for controlling an actuation device (102) of a drone (104), the drone control system (100) comprising: Sensors (108, 210, 212, 300, 302, 304) used to detect the surrounding environment and / or flight status of the UAV (104); and The control device (110) according to claim 7.

9. The unmanned aerial vehicle control system (100) according to claim 8. in, The sensor devices (108, 210, 212, 300, 302, 304) include ultrasonic sensor devices (212, 300, 302, 304) and / or laser sensor devices (210) for detecting the surrounding environment of the UAV (104); and / or The sensor devices (108, 210, 212, 300, 302, 304) include an acceleration sensor device for detecting the flight status of the UAV (104).

10. An elevator device (200), comprising: An elevator shaft (106) having at least one first shaft wall (118) and a second shaft wall (120) adjacent to the first shaft wall (118); and At least one unmanned aerial vehicle (104) that can be controlled along the elevator shaft (106), the unmanned aerial vehicle being equipped with an actuation device (102) for controlling the unmanned aerial vehicle (104) and an unmanned aerial vehicle control system (100) according to claim 8 or 9 for manipulating the actuation device (102).

11. A computer program product comprising instructions that, when executed by a processor (116), cause the processor (116) to perform the method according to any one of claims 1 to 6.

12. A computer-readable medium having a computer program stored thereon, wherein execution of the computer program by a processor causes the processor to perform the method according to any one of claims 1 to 6.

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